Here are some pictures guide you through how to make an Arduino Nano Quadcopter by Wov. It uses Arduino Nano as the micro-processor and Razor 6DOF IMU. There won’t be any source code available as it uses Aeroquad. If you want to learn how a quadcopter works, check it out.
The PCB is home-made, it has voltage converter to lower the 5V voltage to 3.3V for the Razor IMU.
The motors are light-weight 18/11 2000kV Outrunners. ESCs are Turnigy Plush 6A. Propellers would be the small 3 bladed GWS 6×3 propellers. The frame is only 25cm diagonally.
The Software Configurator is simply great and so easy to use. There is also a 3D design of the Arduino quadcopter.
for more detail go here: http://aeroquad.com/showthread.php?253-Mini-Aeroquad-with-Arduino-Nano-V3-and-Razor-6DOF