Complete quadrotor controls using inner outer control scheme and PID control. Also a simulation of some sort is designed to see all euler angles visually and plot their values at the same time.
To see a video about how is the end product: https://youtu.be/qmiGUNm5vRg
Equations of motion and other general mathematical foundation comes from a phd thesis https://infoscience.epfl.ch/record/95939/files/EPFL_TH3727.pdf