Actually it may have been much easier to control than you think. Since most multirotor aircraft employ fixed blades Speed direction and lift are done by varying the rotational speed of the individual rotors, the 2 center units may have been more or less a near constant RPM except to ascending or descending. Forward travel would be nose down, turning left or right would mean reducing the RPM of the forward rotor on the side of the direction you wanted to turn, while increasing the speed of the opposite rear rotor, this would bank you into the turn of your choice. This could accomplished with throttle limiters connected to the peddles
Since internal combustion engines love to be run at a relative narrow RPM range rotor speeds could actually be controlled by being connected to the engine by a fluid coupling

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