Hereby my project, I wanted to build a quadrocopter to learn more about system control and brushless motor and because it is cool. To target also was to make it without as little wires as possible and that is why I made a stacked PCB setup. Made two PCB's one flightcontroller with a lot of possibilities to expand in the future (for instance two PIC32 and also place for MPU-9150). And one PCB with 4 ESC's integrated and battery current measurement, still have to do a lot things (first thing is altitude control). For me it is just a learning experience (programming is not my strongest point). Hope you like it.
Flightcontroller with PIC32