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One of my undergraduate projects involved building a quadcopter. My group purchased off-the-shelf components for the rotors, motors, battery, trancievers, and microcontroller, but designed the frame, control system, and handheld controller ourselves. I was responsible for designing the communication protocol and flight controller, and performed most of the tuning and calibration.

The report can be downloaded here, and the source code is here.

quadcopter tethered quadcopter tuning quadcopter tuning
Images of the quadcopter. Click to view larger version of each image.

Here is a video from testing the quadcopter indoors. This is before we added the battery and propeller guards.

I am trying to track down a better video of the quadcopter in flight, and will post it once I find it.