I created this quadcopter before they were popular and widespread. I wanted a quadcopter, but at the time they were extremely expensive, so I decided to build my own, as much from-scratch as possible. I ended up creating my own controller board using an Arduino and writing the code to control the copter. The project was made much more difficult because only high-latency fixed-wing speed controllers were available at the time. Ultimately I was able to create a relatively stable quadcopter, while making almost everything myself.