Calibrating motors power for a balance flight on a DIY drone

Hi forum!

I've recently been working on a DIY drone based on Raspberry Pi and Arduino - using the Raspberry Pi as a "brain" with remote control and sensors and the Arduino to drive my quadcopter engines through the ESCs.

I'm able to control the torque on the engines remotely (it's an array of four values between 0 and 180) and provide enough throttle to make it lift. But before running each of those attempts I've got to literally run and hide in some corner out of the drone sight: if I pass some torque values that are sufficient for making it lift, I never know in which direction the drone is going to spurt - and if any damage will follow.

Is there a way to calibrate the torque that has to be provided on the four engines to get a stationary flight without needing to test all the possible combination on a drone already armed with propellers?

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