From Hackster.io (via Adafruit)
This tutorial demonstrates how to build a Linux drone with the Raspberry Pi Zero using a BOM (Bill of Materials) of less than 200 US$. The drone uses a real-time capable Linux kernel, a Debian-based file system and Dronecode’s APM flight stack compiled for the PXFmini autopilot board. All these components have been put together by Erle Robotics in their OS image for the PXFmini.
Read the rest here.