https://www.youtube.com/watch?v=_Q5dbNigOiQ

I finally got to fly my quad (my first time ever!)

It's scratch built from angle aluminum and running MultiWii on an Arduino Mega. I'm controlling it via PC joystick over Wifi (soon to be controlled by iPhone too) thanks to my serial PPM project over at https://github.com/mattwilliamson/Arduino-RC-Receiver. It's using a WiFly wifi module and an arduino pro mini as the receiver.