My first steps in programming a quadrocopter control was on the OpenSourcePilot (OSP) from Asctec. I just added a part to send telematic data wireless from the copter and switch flight mode from ‘+’ to ‘x’. That’s not real magic, but nice for me to start with. You can watch my first FPV style flights as usual at vimeo:
Next step was to modify the roll/nick change rate dynamically with the stick. That means slow attitute change at around the middle stick position and exponential big change near the stick borders. This is a strange feeling at the first moment flying but after some time you getting more comfortable at it. Video is following soon.