[Quadcopter] Control board

Here are some pics of the DIY MultiWii control board i made for the quadcopter which is alot cheaper and works just as well as the more expensive CIRUS boards. Its based on the breadboardduino, then I just added pin headers for the ESCs, Rx, and the IMU.

Quadcopter specific part of the control board.
The Rx needs to have 5v, GND and then signal for each Rx channel.
Each ESC needs GND and Signal connected, then one ESC will have 5v connected to power the board.

Serial adapter and IMU attached, Sugru to reinforce the headers.

Back of the board; like a rats nest, i know :)
I could have laid the wires flat against the board, but its done and works.

Front