I have made a tutorial on getting the KK2 Multicontroller board working with arduino.
It has an ATMega324 MCU.
You program it via ISP, it includes a 128x64 lcd display (with driver library), and it has 3 axis accelerometer and gyros on board.
All for $30.
Tutorial here: http://www.rchacker.com/diy/arduino-on-the-kk2-multicopter-controller