I’ve decided to use William’s tricopter controller boards for my own copter.

Reasons being that I’m using 3 rotors, and that the code is written in basic, so that will be easy for me to edit.
I don’t plan on starting with the full IMU cube. Just 2 gyros will do for a start, and I will add on later. Probably a bad idea not to use the whole cube… should just bite the bullet, and make my life simpler, since the development of this copter is secondary to the platform I am after.

Also Will’s code will not dirrectly work on my machine, since I will be adjusting the pitch on the 3 corners, not the motor speed. And the servo that he controlls, will be used by me to control the main motor speed.
These modifications will be made to the code when I get to that stage.