I want to simulated the obstacle avoidance in Erle copter. At the present, I find that there is no simulation as I want, but the Erle Rover simulation has one. I has followed the tutorial http://docs.erlerobotics.com/simulation/vehicles/erle_rover/tutorial_2 and make change to the Erle copter code to make something similar but this does not work, because I can not make the correct value for roll and pitch. I also search for that problem on the forum, I find some threads related to it, but there is no guide or suggestion to fix it: http://forum.erlerobotics.com/t/laser-scanner-erlecopter/993/3, http://forum.erlerobotics.com/t/slam-and-hector-mapping-in-erlecopter-using-ros-gazebo/1353/3. Does anyone has experience with the problem?