Quad copter thruster concept

I've been trying to make a planetary ship propulsion system operate like a quadcopter - 4 engines linked to a central motor controller that takes in accelerometer data (gyro) and user input (direction, throttle). The platform passively hovers and the 4 points of thrust are varied in magnitude according to direction the user wishes to go.

I'm still testing things and so far I've set up 4 rotors with thrusters mounted to each with a 0-180 limit (never facing upward). Unlike a quadcopter, the...

Quad copter thruster concept