Ro-4-Copter: The Quadrotor Helicopter

I've been working on this quadrotor helicopter for a while. It's built from scratch using aluminum and polycarbonate. The circuit and software are designed by me from scratch.

Project details are found at: http://code.google.com/p/ro-4-copter/, including all source code, EagleCAD circuit files, Solidworks 3D models, and notes. Read the wiki for research and calculation notes.