I've already attach an image to my drone. I tried to choose the quad and hexacopter as an airfirm but it didn't work with me. I was thinking of controlling the power of each motor but I couldn't find a way to do that. I tried also with the PID values: the stabilization mode was very good but when I changed to the hold mode I faced some issues. I want to ask if I can build my own airfirm or this is a solution for my problem.
your help will be appreciated.