Quadcopter Construction

As mentioned before there were some modifications that were needed to make the first revision of the quadcopter controller work. I replaced the original 5V regulator with an LM7805 and I removed the level shifter on the PWM and connected the PWM lines up to the headers with wires. I also bought a Sparkfun Electronics breakout board with an Analog Devices ADXL 345 3-axis digital accelerometer and Invensense ITG-3200 3-axis digital Gyroscope, connected them to the I2C bus on the board, and hot glued the breakout board to the main PCB. The modified PCB is shown below:

I also bought a quadcopter frame, motors, ESCs and propellers from Aeroquad.com. Shown below is the assembled quadcopter.