Hi haobuhao ,

A lot of the info you're after can be found here:
http://www.rcuniverse.com/forum/m_14..._1/key_/tm.htm

To point you in the right direction ...... PID control is where you need to direct your attention.
If you've mastered Kalman filter, then PID will be a breeze.

Rather than picturing your quadrotor like an "X" you need to picture it like a "+" so you have front and rear motor pair CW rotation and left and right motor pair CCW rotation.

Cheers ADI
http://homepages.paradise.net.nz/jameskea/