Arduino + ESP8266: DIY Wi-Fi Quadcopter Testing Montage

Sorry for the amateur camera quality, initially this video was never intended for public viewing. Test footage of my custom DIY 450mm Arduino-based Quadcopter. I am using ESP8266 (for serial communication over Wi-Fi) and the Blynk platform to control it wirelessly via smartphone. The quadcopter is capable of hovering and self-level stabilization, powered by the Arduino UNO R3 microcontroller. It is able to maintain its orientation and level by collecting sensor data from the MPU-6050 (6-axis Inertial Measurement Unit sensor). In a nutshell, the stabilization algorithm uses a proportional–integral–derivative controller to modify the RPM of each BLDC motor. A user can install a mobile Android/iOS app to remote control the quadcopter using Wi-Fi. As a proof of concept, a temperature and humidity sensor was added to the quadcopter to demonstrate 2-way communication; capable of data acquisition (app displays the DHT11's readings). Unfortunately, I cannot share the C file as it is a school