Building Arduino quadcopter 30 min flight time + code and schematics

How to make a home made DIY Arduino based quadcopter. Link to Arduino code schematics: ------------------------------ Parts: Motors: 4x FC 28-22 (1200kv) ESC: 4x Hobbyking SS Series 15-18A ESC Battery: 2x ZIPPY Compact 3700mAh 3S 25C Props: 4x 10x4.5 SF Props 2CW 2CCW Radio-controller: Hobby King 6Ch V2