Thanks for the enthusiasm, nice to hear it's helping! Next one will be in three weeks, focused on the PID control and the full code (which will also be published on GitHub).
At 2:49 you say that that motors 2 and 4 that spin in a clockwise direction should reduce power. But then you also say for a yaw in the counterclockwise direction the motors that move clockwise should move faster as this produces a torque in the counterclockwise dorection. Your drawing too shows that motors in the clockwise direction have increased power ( more of the green lines). How come?
