Quacopter Controller

Controller.cs

void Awake () 
{
	hover = (body.mass * Physics.gravity.y) / -4;
}

void FixedUpdate () 
{
	// compensate the spring in the controller to simulate the thortle without the spring in a real quadcopter controller
	float thrust = hover + (Input.GetAxis ("Throttle") * throttle);
	// FR front right
	// FL front left
	// BR back right
	// BL back left
	body.AddForceAtPosition(transform.up * thrust, motors.BR, ForceMode.Force);
	body.AddForceAtPosition(transform.up * thrust, motors.FL, ForceMode.Force);
	body.AddForceAtPosition(transform.up * thrust, motors.FR, ForceMode.Force);
	body.AddForceAtPosition(transform.up * thrust, motors.BL, ForceMode.Force);

	if (Input.GetAxis ("Pitch") < 0) {
		body.AddForceAtPosition (transform.up * Input.GetAxis ("Pitch") * pitch, motors.FL, ForceMode.Force);
		body.AddForceAtPosition (transform.up * Input.GetAxis ("Pitch") * pitch, motors.FR, ForceMode.Force);
	} else if (Input.GetAxis ("Pitch") > 0) {
		body.AddForceAtPosition (transform.up * Input.GetAxis ("Pitch") * -pitch, motors.BL, ForceMode.Force);
		body.AddForceAtPosition (transform.up * Input.GetAxis ("Pitch") * -pitch, motors.BR, ForceMode.Force);
	}

	if (Input.GetAxis ("Roll") < 0) 
	{
		body.AddForceAtPosition (transform.up * Input.GetAxis ("Roll") * roll, motors.BL, ForceMode.Force);
		body.AddForceAtPosition (transform.up * Input.GetAxis ("Roll") * roll, motors.FL, ForceMode.Force);
	} 
	else if (Input.GetAxis ("Roll") > 0) 
	{
		body.AddForceAtPosition (transform.up * Input.GetAxis ("Roll") * -roll, motors.FR, ForceMode.Force);
		body.AddForceAtPosition (transform.up * Input.GetAxis ("Roll") * -roll, motors.BR, ForceMode.Force);
	}

	body.AddTorque( transform.up * Input.GetAxis("Yaw") * yaw);
}