I’ve been working on a project to make a home made light weight quadcopter using an Arduino Nano the last couple of weeks. It now works great, it is easy to fly and has great flight time, around 30 minutes.
http://i60.tinypic.com/rszzlu.jpg
I’ve made a video log of the build, just follow the link:
https://www.youtube.com/watch?v=xUMeya-8dFQ
Enjoy!