Programmed Flight Arduino Quadcopter

i have started new project, have been doing tons of research , have learned lot far. idea created quadcopter, has 9 dof sensor stick sen 10724. can control quadcopter , keep level. going use arduino uno flight controller. have ordered 4 multistar esc , 4 brushless motors. have found great code on git hub, supposed self leveling system exact sensor. problem have right don't know how code arduino, run motors through esc. appreciate on figuring out how program quadcopter fly using code, not controller, still use sen 10724 sensor stick. post links code i've found , parts list. if work first person in fab lab stoughton create quadcopter.

stoughton site-https://sites.google.com/a/stoughton.k12.wi.us/fablab-stoughton/

my site-https://sites.google.com/a/stoughton.k12.wi.us/fablab-stoughton/home/131422/alexander-horneck

code:https:https://github.com/ptrbrtz/razor-9dof-ahrs/blob/master/arduino/razor_ahrs/razor_ahrs.ino

parts:
arduino uno-http://arduino.cc/en/main/arduinoboarduno
9dof sensor stick-https://www.sparkfun.com/products/10724
esc program card-http://www.hobbyking.com/hobbyking/store/__27135__turnigy_multistar_esc_programming_card.html
multistar esc-http://www.hobbyking.com/hobbyking/store/__25365__turnigy_multistar_30_amp_multi_rotor_brushless_esc_2_4s.html
props-https://www.hobbyking.com/hobbyking/store/uh_viewitem.asp?idproduct=38712
motors-https://www.hobbyking.com/hobbyking/store/uh_viewitem.asp?idproduct=28112
cables esc-https:https://www.hobbyking.com/hobbyking/store/uh_viewitem.asp?idproduct=51110
battery-https://www.hobbyking.com/hobbyking/store/uh_viewitem.asp?idproduct=20761

has no 1 tried this?

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