Building a flight controller

Hey guys!!  :)

I've been studying about these multirotors for a long time and i am trying to build a quadcopter

I have started to work on building a flight controller board.

I am using the sparkfun 9 DOF mpu 9150.

Currently I have succeeded in getting the sensor data via an arduino uno and printing it on the serial monitor.

since i'm a newbie can anyone guide me through to build successfully a good flight controller ?

Thanks in advance

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