[Michael] found a very, very cheap toy quadcopter in his local shop ... These bytes contained the throttle, yaw, pitch, roll, and a ‘flip’ settings, along with three bytes of ‘counters ...

The quadcopter hovers in self-leveling mode (angle mode) and switches to acro mode for forward flight. However, as the drone pitches over for forward flight, the roll axis becomes the yaw axis and ...