From Hack-a-day. This ducted-fan beast uses the Sparkfun 6DoF IMU that Jordi wrote the software for. No, it hasn't flown yet.
Behold the Land-Bear-Shark, a quadcopter on a rather grand scale. At a full eight kilograms it’s an easy target to compare the [Howard Hughes] behemoth, but in addition to the weight, this still has yet to make its first flight.
To give you some scale to the image above, the board at the center is an Arduino. It controls the beast, along with the help of a SparkFun IMU board which rides atop. Really, if any quadcopter of this size has a chance of working, this should be the one. The construction is beautiful, making use of carbon fiber rod along with 3D-printed connectors to assemble the frame. A lot of thought has gone into small things like conserving weight used on the landing gear, which are incorporated into the bottom corner brackets. The batteries are connected in a manner that makes them easy to adjust, acting as ballast for balancing the craft.