The Quadcopter APM v2 with the ArduCopter firmware v2 tested in flight on January 22, 2012.

Avionic setup:
- Ardupilot Mega v2
- firmware Arducopter V2.2 b2xp3

- Receiver: Turnigy 9X8C v2
- Transmitter: Turnigy 9x
- uBec 5V @ 5A Turnigy

Quacopter frame type X:
DJI Flame Wheel F450

Hardware Setup:
- four brushless motors RC Timer BC-2836/11 (750 KV)
- two CW propellers 12 x 4.5
- two CCW propellers 12 x 4.5
- fours ESC 40A RC Timer speed controllers
- one Lipo battery 3S Turnigy Nano-Tech 2200 mAh

- Take Off Weight (TOW): 1088 g without payload

- Flight time: about 10 min

more infos at:http://diydrones.com/profile/JeanLouisNaudin