Arduino Quadcopter Development Part 1

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This is a project that I have been working for almost two years and still improving. Its a Quadcopter-a F450 class drone, with a Arduino Nano as the flight controller. The fundamentals of the code is based on the code developed by Joop Broking, http://www.brokking.net/ymfc-al_main.html.
The control system (PID) has been completely coded based on my own Knowledge. Also in this video I have developed the Altitude hold controls using a Ultrasonic sensor and added few more tweeks like Auto-landing and other failsafe protocols.

This video is late part of the development I will try and post the entire development-Hardware, Test setup, Vibration analysis etc in following sessions.