Promark VR, trying to make it fly like it should.

So I have two promark VR drones, got them dirt cheap . The uglier of the two I decided to learn and modify the flight/speed aspect of craft. I have been trying to drop the output voltage to brushed motors to an analog input signal (>5v) to send to my arduino in which I'd convert to pmw. Many issues have came from the research and bench testing I've done. Anyone done such? I'm ready to just invert motors and run 6" props?
 

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