Linux flight controllers are still experimental. If this is your first multirotor I would recommend using a standard flight controller like a Pixhawk just to get the feel of how things work. It seems you can handle a Linux based flight controller and I think the BBBmini is one of the best but it is a big jump to do it all for the first time.
A multirotor is not an easy project to build from scratch and it might be nice to do a simple one to get started, then you will understand some of the issues like PID tuning etc.
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Linux flight controllers are still experimental. If this is your first multirotor I would recommend using a standard flight controller like a Pixhawk just to get the feel of how things work. It seems you can handle a Linux based flight controller and I think the BBBmini is one of the best but it is a big jump to do it all for the first time.
A multirotor is not an easy project to build from scratch and it might be nice to do a simple one to get started, then you will understand some of the issues like PID tuning etc.
great work, I am assembling one for my self.