Question

[Fredek97]

Please, how can I proceed if I want to control a hexacopter using your code?

[lobodol]

Hello,

First, you have to understand how an hexacopter moves in the air: which motor has to speed up/down for which move.
Then, I suggest you to write in down like this:

Move	Motors
Up	Increase speed of motors 1 to 6
Down	Decrease speed of motors 1 to 6
Moving forward	...
Moving backward	...
...	...

Knowing this, you will have to update pidController in order to deal with 6 ESCs.

There might be other things to change but, here are the first steps I suggest you to follow.

Regards,