A couple of weeks ago I got bit by the bug to build a quadcopter from scratch. I am purchasing the motors, ESC, battery, propellors, ect..., but I am designing and building the frame from raw materials. I am programming the control system from a blank slate. One of the things that will make this quad different than many others is that I will be attempting to track it's position in relation to it's start point purely from the accelerometer and gyro. If that feature is successful, I plan to add the ability for it to fly autonomously by following pre-programmed way-points. If the inertial position tracking doesn't work out, I'll just reprogram is to use standard Quadcopter controls and have fun with it.
Here's a link to my Blog where I am writing about the process:
Let me know what you think.