Now the hardware for my Quadcopter and a good portion of the software is complete for the quadcopter. The hardware really consists of 4 parts: The controller board, the quadcopter XBee board, the USB XBee board and the quadcopter frame with motors and ESCs. The quadcopter XBee board plugs into the top of the quadcopter controller board which is then mounted on the frame. The next part is to get the control loop working and then i should have a working quadcopter.
Here are a few pictures of the hardware to date:
