title_body: Drone Controller, PID Is Enough, or ODE Modeling Required?
upvoted_answer: You can certainly use a PID based design and tune it from there. This design is simple enough that if you just have XYZ PID controllers and proper output mixing it should work just fine.
  I'd recommend doing something similar to his design where the motors are far from the center of mass which will increase the torque generated by tilting the motors.
  Good luck!