Hello! RC Arduino Uno Quadcopter

Hi all.  A few friends and myself are planning on building a lightweight quadcopter.  I dug around a bit and found a few projects with the ArduPilot, but was just wondering if it would be possible to program it using an Arduino Uno board because we had one already. Also, I would appreciate it greatly if any of you had a few pointers since we are just starting out.

Thank you for your time!

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