This project will use the Arduino Diecimila as the hardware platform to control a quadrocopter. Software coding will be done in the Arudino environment which is based on Processing. The primary goal for this quadrocopter will be to create a low cost flying vehicle which integrates gyros, accelerometers and a GPS for attitude control compatible with a 2.4GHz RC controller like the Spektrum DX7. A secondary goal would be make this an autonomous UAV, which can fly to programmed waypoints without pilot intervention.