The present invention relates to the control of a quadcopter experiencing a failure affecting a pair of rotors. In particular, the invention relates to a computer implemented method for controlling and stable movement to any coordinate of a quadcopter by actuating a pair of opposing rotors. A quadcopter comprises of a body being configured as a center of mass, a plurality of arms being attached to the body on one end and to a plurality of motors. Also, a plurality of rotors being operably connected individually to the plurality of motors. Furthermore, a plurality of sensors is being operably connected to a processor. Said processor is being configured to execute a computer-implemented method for controlling and stable movement to any coordinate of a quadcopter by actuating a pair of opposing rotors. Also, said processor is operably connected to the plurality of motors to provide control and movements instructions of the quadcopter. Lastly, a power source is being connected to the processor, the plurality of sensors and the plurality of motors.
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