title_body: Drone Controller, PID Is Enough, or ODE Modeling Required? 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,
  https://www.youtube.com/watch?v=b14_XQ5nd2A
  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?
  https://andrew.gibiansky.com/downloads/pdf/Quadcopter%20Dynamics,%20Simulation,%20and%20Control.pdf
  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?
upvoted_answer: You can certainly use a PID based design and tune it from there. This design is simple enough that if you just have XYZ PID controllers and proper output mixing it should work just fine.
  I'd recommend doing something similar to his design where the motors are far from the center of mass which will increase the torque generated by tilting the motors.
  Good luck!