For my Master Thesis I programmed all the main software components of a quadcopter and realised it.

The project has been the first one ever realised with an Arduino Yun board and therefore hosted on the official Arduino Blog.
I took care of  IMU signals cleaning, sensor fusion, PWM signal generation, inter-CPUs and wireless communication and ultimately GUI for controlling it.

The final result has been called Comelicopter (or Comelicottero), named after Via Comelico, the headquarter of the Computer Science department of the Università degli Studi di Milano.
Its characteristics have been displayed in several events such as University Exhibitions and Fablabs in Milan.