Getting through the code

The last couple days I have been figuring out how to program the pitch, yaw and throttle on the quadcopter. Currently I have completed the throttle and the yaw for the machine, figuring out how to do the floating point values and the equation for the yaw has slowed me down but now that I've figured it out I should have the pitch done within the next week.

Also having done some research I may have to upgrade and possibly modify the motor drivers and the motors. The motors will have to be upgraded to brushless motors and the motor drivers may have to be upgraded to esc's, or I am thinking that the addition of a transistor to amplify the signal may be necessary to provide the amperage needed for the motors to operate correctly.