I'm using my own code to create a quadcopter robot. The hardware part is done but I need to balance the copter.
The original video demonstrating the problem was shared via dropbox and is no longer available.
I have tried to play with the speed of each motor to get it balanced. It didn't go. I actually have a gyro and accelerometer onboard. But how shall I adjust the motor speed based on these values? What are the rules that I should beware of?
Is there any better solution other that try and error? Where shall I begin? Any tips?