Just like to share the nVader 600 with you all; www.gressaero.com
I stated out with the standard component base system using gyros and mixer and it work very well
Later we went to the Arduino based sensor based system currently running Wii motion 3 axis gyro and nunchuk 2 axis accelerometer. The system is coded with MultiWiiCopter Bi-copter configuation.
This is the second test flight with the new system in less than perfect: