Quadrocopter code

Hi!

I am in the progress of building a quadrocopter on my own using arduino uno. The fun part is making it to fly. And I want to write my code from the scratch and never miss any fun events on the whole. In order to write the code, what do I have to understand? Can anyone please refer me some tutorials or guide me through the basic quadrocopter code, so that I may learn to write the code all by myself.

Thanks in advance,
Rishi.

Hello!

Take a look this project

http://aeroquad.com/content.php?s=76c6e81f39ec0e11659bc5fa650f14b5

You need understand the PID controler theory, this is the core of system control. For example look this site.

Nice Links Uli, thanks,