Before revision:   We introduce attitude strategies that work with the underactuated planners, controllers, tools,  and remote control interfaces, all while allowing taking advantage of the full actuation.
After revision:  The approach can extend the existing underactuated flight controllers to support the fully-actuated robots, or enhance the existing fully-actuated controllers to support existing underactuated flight stacks. We introduce attitude strategies that work with the underactuated planners, controllers, tools, and remote control interfaces, all while allowing taking advantage of the full actuation.