For balance, 4 sets with two counter rotating blades driven by sensing a sum and difference current of all 4 motors is required with half bridge low Rdson drivers with controlled deadtime during commutation, for each motor.
Quadcopters are symmetrical and embody the simplest principle of operation for controlling roll, pitch, yaw and motion.
Simply varying the speed of each of the motors provides full 3D motion and rotation and hover capability.
Upward Force is less proportional to current as it is including inertial forces for changes in rotor speed and air eddy current losses with rising f. Gyro feedback is essential for motion control with current feedback and smart signal processing.
Then for smarter navigation, other feedback is needed like GPS.
i suggest you reverse engineer an inexpensive Quad to fully understand all the transfer functions of inputs and outputs before you begin to DIY as you have many man-decades of R&D to learn.