I expect to take another stab at explaining the topic again, and I'm working on plugging in a physics engine to do some real-time simulation. It's kind of like a game, can you tune the PID loop to lock the copter into position?
I mention Khan Academy as my inspiration for this, not to imply that it will be anywhere near as good. Anyways, let me know if if this is useful at all or where I've gotten things wrong!
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