How to convert angles to motor speed

[johnwasser]

@amad3v

the throttle is easily mapped to duty cycle)? Is there a mathematical to do it?

You have one throttle value for four motors. The Yaw, Pitch, and Roll values are used to modify the throttle value for each motor according to the formulas shown. The Roll value increases thrust to one side and reduces thrust to the other side. The Pitch does that front and back. The Yaw does that the CW and CCW motors.