Hi,
Check out the sample on "Movement constraint" it has a tilting fsm that tilt based on velocity, this is exactly what you need, more or less because actually, tilt is pro active to the speed and not the opposite, but if you are faking the physics controls of the drone, it's good enough of course. IT will be also true for breaking, if you want to break the drone will first tilt and then propellers thrust will break the speed.
Bye,
Jean