by chance i read this patented method to control the rotor pitch without a swash plate usually a helicopter, by adding two parallel hinges on each blade root, when add torch to spin it the pitch would change so you can generate a vector force against the rotor axis:

http://modlabupenn.org/underactuated-rotor/

This is a very useful control technique for control a miniature in door drone, although its patented (https://www.google.ch/patents/WO2014160526A3?cl=en i still want to try it at home by building an ESC (hobby model naming for brushless motor contrller).

a good starting place maybe buy a cheap TI FOC InstalSPIN controller demo board by hacking some code on: http://www.ti.com/tool/launchxl-f28027f with a driver board to drive a 2213 dji phantom motor.

the question is:

1. I don't have any experience, would this board/code base could implement this function directly?
2. if not, any starting point for other FOC controller will do

i want to make a ESC with 3 120 angled position input to tell the motor controller where i want the positive pitch to go.

Thanks.