That looks pretty awesome. Where did you get your video transmitter and what type of transmitter are you using to control it (or did you just use an old transmitter from a bought RC car?)? I am in the planning stage of building a quadrocopter and am looking for good video & RC transmitters. I would like to get at least a mile range out of it in an urban setting, but have not been too successful on finding a good transmitter. I have been looking at this xbee, XBee Pro 900 XSC RPSMA - WRL-09087 - SparkFun Electronics but the pdf states that the range in an urban setting is only 370 meters.