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parrot ar drone 2.0 ros control motors individually

Hi everyone,

I have been looking in purchasing a parrot ar.drone 2.0 for developing control systems. I was wondering if it is possible to control the speed of each motor individually. I know that it is possible to use ros to send commands such as pitch and roll angle required but i wanted to see if there are any people that previously used to control motor speeds instead, that is, a "low level control". Is there any ROS developed previously for that purpose?

Thanks for your help.