What I wanted to do was to build a prototype that can fly and walk on the ground as well so in short a combination of drone and rover. That is when I decided to make my project using PlutoX controller which controls a drone and it also has an add on breakout board which i used to add extra functionalities like rover mode.
Due to small wheels it becomes difficult to keep the heading of the in straight direction for this I have used something called as AutoStabilization. AutoStabilization uses the drones magnetometer data and keeps the heading straight. Heading can only be changed using the phone(Controller).