I am planning to build a remote controlled dualcopter where I have two propellers, one on top and one on the bottom. The bottom rotor will be gimbal based for thrust vectoring. Something like this,
I want to build the controller from scratch (the fella in the video used Multiwii Mega flight board controller). Do I need to get into ODEs, differential equations, etc. as the following paper has done?
Or is this overkill? Could I simply use a PID based design for a target tilt, adjust control to reach it, and do the same for motor speed, etc?