MultiWii

Ok, but, for example, with this command:

[$,M,<,16,200,1500,1500,1500,1500,1500,1500,1500,1500,CRC]

the drone is in overing?
I want to understand how I can drive the drone, for example forward.

Thanks, a question about this command:

[$,M,<,16,200,2000,1500,1500,1000,1500,1500,1500,1500,CRC]

In this case the drone go forward because the value of ROLL is greater than others?

In my Arduino robot I control them (via bluetooth) writing on the serial port with the SerialPort() class. I've seen the MSP but I don't understand what are the commands I've to send to the board. Can you write an example to roll (forward and back) the drone? Thanks.

Hello, I want to develop an application in Visual C# to control a quadrotor with MultiWii controller via bluetooth. I need to know what are, in the sketch MultiWii.ino, the commands that I have to send to the board for the actions.
Can someone help me? Thanks.