Vector, Quaternion - математика для ориентации. AdaptivePID - ПИД-регулятор. DroneOrientation.CalcAttitude() - цикл вычисления положения.

DroneClient/utils/RC.cs

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+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace DroneClient.utils
+{
+    internal class RC
+    {
+        private Vector control = new();
+        private float throttle = 0;
+
+        public void SetControl(float roll, float pitch, float yaw)
+        {
+            control.X = roll;
+            control.Y = pitch;
+            control.Z = yaw;
+        }
+
+        public void SetRoll(float roll)
+        {
+            control.X = roll;
+        }
+
+        public void SetPitch(float pitch)
+        {
+            control.Y = pitch;
+        }
+
+        public void SetYaw(float yaw)
+        {
+            control.Z = yaw;
+        }
+
+        public void SetThrottle(float throttle)
+        {
+            this.throttle = throttle;
+        }
+
+        public Vector GetControl() { return control; }
+
+        public float GetThrottle() { return throttle; }
+    }
+}