Tran , Thu Ha, Van Thai Nguyen, Hoang Minh Le, and Thi Cam Tu Duong. 2016. “An Advanced Quadcopter With Pid Controller Using Both Gyroscopes and Accelerometers”. Journal of Technical Education Science 11 (2):3-11. https://www.jte.edu.vn/index.php/jte/article/view/414.