Arduino Helicopter Autopilot

hi my friends,
[ch305] need some idea about driving the dc motor with arduino board.

firstly [ch305] detect the tilt angle and I want the produce PWM signal to drive the motors with l293d, but my system likes a teeterboard for ex for negative tilt [ch305] drive the one motor and for positive tilt [ch305] drive the other one, just [ch305] want to stablize the platform thanks for your helps...