Here is a Propeller based quadrocopter, well isn’t that a play on words.
The control board is a Parallax Propeller protoboard (a quick prototyping board you can buy for about $20). The only sensor currently in use is a single 3-axis gyroscope (an ITG-3200). I have an ADXL-345 accelerometer mounted as well, but it’s not currently used. Without batteries, it weighs 1kg (or 2lb, 4oz)Via Hacked Gadgets.