Might pick this project back up if there's enough interest and I have enough time.
I tried to simulate the drone as accurately as possible, the propeller lift is based on their individual angular velocity and they have mass and inertia. The only thing both player and flight assistance can control is the motor torque, as it is in real drones.
There are two control modes: simple and pro. The simple mode flies a lot like most drones on the market and requires minimal user input to keep flying, while the pro mode flies like a racing drone.
Not simulated (yet) are ground effect and vortex ring state.
Drone and warehouse models made by Kevin Braber.