Quad Rotor control with mbed

Here is a video of it flying while being held down /media/uploads/Ryan/img_0735.mov

List of Parts

Q450 Glass Fiber Quadcopter Frame 450mm - Integrated PCB Version
HobbyKing ECO6 50W 5A Balancer/Charger w/ accessories
Turnigy dlux 20A SBEC Brushless Speed Controller w/Data Logging (2s4s)
Turnigy 3300mAh 3S 30C Lipo Pack "I changed this to a 2,200mAh 4S battery"
NTM Prop Drive Series 28-26A 1200kv / 250w

Specs

Stable flight is some where around 0.00139ms pulseWidth and it pulls 14.7amps so 2,200/1000/14.7*60= about 8.97 of flight time.

Diff: mbed.bld

Revision:: 0:fe6280c7a52f

diff -r 000000000000 -r fe6280c7a52f mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Fri Aug 17 14:18:42 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/737756e0b479
\ No newline at end of file