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I am creating a drone that can perform some robotic functions like picking something up and taking over an area that could be difficult for a land based robot. I am not concerned with speed which is the object of most DIY racing drones. The people that developed the very first flight controllers must have had many challenges and rewards for solving problems of unmanned flight. What they learned is what I am interested in learning and that is the reason I am writing my own flight controller. I am not doing this as an electrical engineer but as a retired person that enjoys developing Robot/Drone projects.I thought I would create videos of what I am doing in case anyone else is interested in doing something similar. If you subscribe you will get notice of any future video. I try to answer all questions entered in the comments that are related to this project.