Take the eduMIP and hook it up with the DSTR app in order to control the Mobile Inverted Pendulum from your very own cell phone!
Under $200. Single 2S LiPo battery. Readily available parts. Programmable flight control via Python.
Graphical Systems Design approach to controlling the Renaissance Robotics eduMIP with LabVIEW
BBBmini is a state of the art Linux autopilot / flightcontroller Cape for the BeagleBone. It can be used for Copter, Planes or Rovers.