Arduino Uno Quadcopter

Arduino UNO is used as the control Board or Flight controllerof this Motors are connected to speed controllers which are being input with the PWM signals through Flight controller consist of the PID algorithm to control ESC’ MPU6050 Module (GY-521) is used to sense the orientation of the also consist a magnetometer for proper directions.A transmitter is used to control the throttle,Pitch,Roll and Yaw. I am trying to add some more features to it, Like a s