Arduino Quadcopter Part 1 (Overview of project)

This is the first video documenting my attempt to make a quadcopter.

My parts just came in the mail:

Battery: 1800 mAh 3 cell LiPo
Motors: Turnigy 2217 20turn 860kv 22A Outrunner
Speed Controllers: Turnigy Multistar 20 Amp Multi-rotor Brushless ESC 2-4S (OPTO)
Micro-controller: Arduino Mega (2560)
Sensors: 10 DOF IMU (Accelerometer, Gyroscope, Magnetometer, Barometer)
Radio: APC220 V3.0 Serial RF

PART 2 http://www.youtube.com/watch?v=qR6nlvyhrVk&edit=vd

Code: http://forum.arduino.cc/index.php?topic=175884.msg1401598#msg1401598

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