double front door cargo drone

To control the pitch, roll, and yaw of this drone, use the respective pitch, roll, and yaw joystick.

As for the vertical axis, there are 2 modes.

The default mode is vertical acceleration mode (controlled by slider 1), which controls how fast the aircraft accelerates in the vertical direction.

The second mode is altitude hold mode. This mode requires less input at the expense of less control. In the altitude hold mode, slider 1 is used to change the vertical speed and thus altitude. The maximum vertical speed defaults to 5 m/s (both up and down). To increase this maximum vertical speed, slide slider 2. Slider 3 is used to control the level of acceleration that the altitude controller uses. The more positive the slider 3 input, the more aggressive the acceleration of the altitude controller. This might get you to the desired altitude faster, but it comes at a tradeoff of precision. If the slider 3 input is large, the aircraft will wobble up and down a lot around the desired altitude. To lessen the wobble and increase hover precision, lower the slider 3 value, but again, this comes at a tradeoff.

Slider 4 is used to control how aggressive the attitude control is. Again, I put it here for a reason. Obviously, the more aggressive the attitude control, the faster the drone will respond. But if the engine isn't producing enough thrust (e.g., during rapid descent), the attitude control software overestimates the torque that the engines can produce and causes undesired oscillation.

Finally, the brake sliders are used to open the doors.

It turns out that the doors have slightly less drag than the other "non-door wall" because they have less surface area to make room for the rotator. And the previous drone had the door only at the left rear side, which caused drag asymmetry (assuming the drone is moving forward), causing the drone to initially yaw to the right. In this drone, the doors are located on both sides to eliminate drag asymmetry. Furthermore, the doors are located at the front, so the front part has less drag than the rear part, causing the drone to yaw into the oncoming airflow.