Modern robotic vehicles are equipped with a complex suite of computing (cyber) and electromechanical (physical) systems. Holistic design, modeling, and optimization of such Cyber-Physical Systems (CPS) requires new techniques capable of integrated analysis across the full CPS. We introduce a mechanism for balancing cyber and physical resources in a step toward holistic co-design of a cyber-physical quadrotor. An ordinary differential equation model abstraction of controller sampling rate is developed and added to the equations of motion of a physical system to form a discrete-time-varying linear system representing the CPS controller. Using feedback control, this cyber effector, sampling rate, is then co-regulated alongside physical effectors in response to physical system tracking error. This technique is applied to attitude and positional control of a quadrotor. We also lay out a vision for a more complete heirarchical quadrotor architecture that considers cyber and physical resources at each layer leading toward more balanced and improved system performance.