This was done in the course Modelling and simulation project at Linköpings University 2015.
Cool project of a simulated quadcopter in WebGL. You can find some math in the matlab branch if you like looking at curves.
A simple multiplayer version is in the making on the game branch using websockets and a node server.
http://andrew.gibiansky.com/blog/physics/quadcopter-dynamics/
http://www.engr.mun.ca/HosseinRideoutKroug_ICBGM10.pdf
http://sal.aalto.fi/publications/pdf-files/eluu11_public.pdf