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Because it is all open up source, adding additional custom components to regulate lights, sensible, servos, etc. is about as easy as it gets. For those who already acquainted with Arduino, it's just a subject of choosing what customizations to include.
This example simplifies the rotors forces and moments as a desk lookup that comes back the forces and moments depending on the rotor revolutions per minute (RPMs). It uses a first order system to model the dynamics of the element electric electric motor and rotor edge assembly. You can change the dynamics to another order linear and nonlinear response by changing the Variants.Actuators framework in the workspace. To find out more on subsystem variations see Model Variations ).
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If you are interested in a slightly larger quad copter with somewhat more capability, browse the Hubsan X4 quad copter. An rc drone makes its steps therefore of an electronic flight controller giving an answer to your stick inputs. Very quite simply speaking, the airline flight controller changes the rate of the appropriate motors appropriately, and the resulting changes of thrust moves the drone in the desired direction.
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