The unmanned aerial vehicle created on the base of a quadcopter with the ability to control the thrust vector for each motor will have an advantage compared to the same vehicle without this option. This advantage reaches due to the possibility to create moving forces and reactions on the external excitations, without a pitch and roll angles of the whole body. With the help of a controlled thrust vector, unmanned aerial vehicles can move in space with a completely horizontal position. The horizontal position of a body allows minimizing aerodynamic impact during maneuvering.

During this project, we create and implement a program to stabilize the UAV with tilting rotors. As a basis, we use a particular racing drone flight controller and an additional self-designed board with an extra controller to control all degrees of freedom. Using this, we implement our model. This implementation method allows us to assemble a full-fledged aircraft model with the least time and effort to realize. With the help of such a model, we can prove the correctness of the approach and compare its advantages and disadvantages with existing analogues.

Our algorithm should be the basis for a full-fledged autopilot and, therefore, we take into account only the main factors that may affect the aircraft's ability to detach from the ground. We have chosen a ready-made flight controller board as the platform. The main criterion when choosing a board was the number of controlled outputs and communication ports to use in our system. We are going to construct such a model and improve modelling results by flying tests. So our program should take into account specific protocols and bullet points of existing hardware used in distant controlled vehicles.

As a prototype, we chose a quadcopter model with the frame resembling the letter "H". Each motor can rotate in transverse and longitudinal plane relative to the normal direction of flight. This model's choice was because the rotation of the joints will be easier to produce and assemble. The rotating principles are illustrated.

Using such a method, we can get the following advantage compared to the traditional control principle for no tilt-rotor quadcopter. Let us say we have options on how to create a force that counteracts the force of resistance from the side wind. We will also take the same propulsion and tilt angle. In the first case, the reaction force will be reached by tilting the entire UAV. In the second case, it will be achieved by tilting the motor on the same angle. The force of displacement from the side wind will depend on the active flow area and will be more significant when using the classical scheme.