No, I think you are misunderstanding me. I diddnt do a very good job at explaining my proccess. So The device I am using is called The MPU 6050. I receive the X (the pitch), Y(the roll), Z (the yaw), and G (the upwards acceleration) raw data from it. I retrofitted the code from the Arduino reference page on Said MPU to calculate the actual angles for each. For now, I am only using the X, Y, and Z data from the MPU. I have three different PID loops for each variable. They each take their corresponding angle from the MPU as an input, and ,with the P=1.5, I=0, and D=0, the loops calculate an output. Now each motor has a different combination of these three outputs all added together. For example,
top left prop= (-xOut)+(yOut)+(zOut)
top right prop= (xOut)+(yOut)+(-zOut)
bottom left prop= (-xOut)+(-yOut)+(-zOut)
bottom right prop= (xOut)+(-yOut)+(zOut)
alright, that is the stabilization part, but, as it is still tethered to my computer via a USB chord, I control it (just for now) via the serial window by adding a set variable to each propeller above.
So essentially, each propeller is outputting an equal manually set chunk plus the data from the output of the three PID loops.
Does that make more logical sence?
Again, Thankyou guys for all your input.