SUCCESSFUL TEST FLIGHT!

Finally after setting the PID controller to adequate values, I was able to achieve stable flight. I also mounted a GoPro camera with a rigid mount, but from the shakiness of the video, I am considering purchasing an electronic gimbal to make it more stable, and in addition, to be able to control the camera with the transmitter remote. I have purchased an altimeter from taobao and I will be integrating it into the program as soon as it arrives, which may be within a week. I will have to further study the Arduino code to learn how to use multiple sensors on the same circuit board as I await the shipment. I will also be testing the ultrasonic sensors as a mechanism to avoid crashing into walls. This may be difficult because the current program on the multicopter is limited to 4000us (microseconds) for calculating the angle orientation and angular velocity of the drone, reading the transmitter signals, and other calculations. I will have to further study the ultrasonic sensor program and pay close attention to the timing of the sensor readings to try to fit it into the program so that all the other processes continue to work as normal.