Hello everybody,

Im doing a quadcopter using Arduino, but I am stuck at the stabilization part.

I know that I have to something like this :

Pd - Pv * coef - which Pd is the desired angle (0 for me so) and Pv the actual angle. I got the Yaw and Pitch thanks to MPU6050 so I managed to get the actual angle. But now I dont know how to convert this result to a motor power value...

If you could help me with this !

Thank you