Leveling a hexacopter .. Math help please?

Hey there, I'm working on a new project: Hexacopter

I have a 10DOF (3Axis gyro, accelerometer and magnetometer + barometer), I managed to apply a kalman filter to it so I get a clean XYZ output, my main problem is finding the most efficient way to control the 6 motors depending on the angle of the hexacopter to keep it level, does anyone have some advice for me on how to calculate that?


I would suggest going through the Arducopter site… They have basically done all this and I’m sure their code would provide good examples


you can also look at the open source MWC code. i think you need a PID or similar function that finds the difference between the current position and the last position and then control the motors from that.