We studied further about concepts in coding an arduino, a few more libraries. We discussed and arrived at our circuit for the quad copter which mainly comprised of MPU6050, BMP085 and arduino mega2560. We also succeeded in controlling the speed of a brushless motor using arduino. Having studied how to extract raw data from an MPU sensor we implemented it and studied the MPUs data at different baud rates. After that we turned on the low pass filter in the MPU.