Hi. If you made it this far into the tutorial, thank you and I hope you learned a lot. I am upset to inform you that I was unable to create a fully operational quadcopter. Although it is able to hover close to the ground, I wouldn't want anyone to spend four hundred dollars on equipment and have it not work to its true potential at the end. That is why I have decided against putting together a tutorial. Although I am not a hundred percent sure, there seems to be a problem in the code. With my current experience in coding, I am unable to debug and identify the issue. However, there are some amazing links included on this website and the components that I bought work great.