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PLEASE USE THE YMFC-AL (AUTO-LEVEL) SOFTWARE: These videos are just for reference. YMFC 3D part 6 Build your own Arduino quadcopter flight controller with source the GPS version: The YMFC-AL is an auto-leveling Arduino Uno based Your Multicopter Flight Controller 3D YMFC 3D Part 1 Hardware
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Project YMFC-3D - Build your own multicopter flight controller (announcement).
YMFC 3D part 6 Build your own Arduino quadcopter flight controller with source
YMFC-3D part 5 – Quadcopter PID controller and PID tuning.
YMFC-AL - Build your own self-leveling Arduino quadcopter - with schematic and code