Getting through the code

The last couple days I have been figuring out how to program the pitch, yaw and throttle on the quadcopter. Currently I have completed the throttle and the yaw for the machine, figuring out how to do the floating point values and the equation for the yaw has slowed me down but now that I've figured it out I should have the pitch done within the next week.

Also having done some research I may have to upgrade and possibly modify the motor drivers and the motors. The motors will have to be upgraded to brushless motors and the motor drivers may have to be upgraded to esc's, or I am thinking that the addition of a transistor to amplify the signal may be necessary to provide the amperage needed for the motors to operate correctly.

Remote control has arrived!!

I now have the ability to remotely control my motors with the controls on my transmitter. Videos are soon to follow I will be posting them on my youtube channel at: Mr Mackies channel.
Next step is speed control.

Arduino control of individual motors

This is the entire assembly so far

I now have control of the all of the individual motors. To demonstrate this I have included a video of my works and the program I am running to this moment. Once the battery has been turned on at the switch the motors spin one after the other, this now means I can have start programing movements into the quadcopter. Flight will come very soon.

Code can be downloaded from:
https://drive.google.com/file/d/0Bwxn2sTbc_zDOVdaeUkzNEpneDA/view?usp=sharing