Well... needless to day, my ArduCopter is becoming a bit of an obsession..... Here's a video of a few of the highlights from my first flights!!

Since then I've crashed a few times trying new things and made some modifications..... I've been working on ALT_HOLD for a bit and thing I made some great progress tonight on my sonar which I'll test tomorrow. Also, I think I have some PID tuning to do, with the 12x4.5 props on the 880 motors without any extra weight I've got a bit of oscillation when trying to hover and a lot (almost to the point of a crash) when descending from higher altitudes.

Once those issues are worked out I'll test way points, then maybe get a camera mounted on this thing and add some telemetry!!

Thanks so much to the entire ArduCopter team for all the work being done to keep this project moving.... I hope as my knowledge and experience grows I'll be able to contribute some things in return!

Here's a link to some more pics of the build: ArduCopter Build Pic on Facebook