Building Arduino quadcopter 30 min flight time + code and schematics

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How to make a home made DIY Arduino based quadcopter. Link to Arduino code + schematics: https://www.dropbox.com/sh/qcfd27buc7o9ep0/AAAjgNwChewsASVR9SUxpiUXa?dl=0 ------------------------------ Parts: Motors: 4x FC 28-22 (1200kv) ESC: 4x Hobbyking SS Series 15-18A ESC Battery: 2x ZIPPY Compact 3700mAh 3S 25C Props: 4x 10x4.5 SF Props 2CW+2CCW Radio-controller: Hobby King 2.4Ghz 6Ch V2