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The Erle Robotics copter came to my mind as well. I think a Bebop2 (not Bebop1) is also a good choice. It can be loaded up with ArduPilot and it’s cheap and readily available. It’s not so good for hardware hacking (i.e. adding sensors is difficult) also its software can only be compiled from a linux/Ubuntu machine (i.e. not windows, not sure about mac). It can only be controlled with a wifi joystick (i.e. can’t use standard RC transmitters) but it has built in cameras and has the potential to use an optical flow sensor for indoor flying.
The Solo has also recently come down in price in the US at least so that might be worth a look. It’s perhaps slightly easier to hack the hardware than on a bebop and it’s really built around ardupilot. Loading the firmware is slightly easier than with the bebop2. It’s significantly larger, heavier and thus slightly more dangerous than the bebop2 however.
-Randy
..and just to continue with the escalation of info.. if you choose ardupilot, although it’s possibly too much info, here are the presentations that I’ve been giving for operation and software training.
..feel free to use any/all content but add a little comment somewhere that the original source of the docs is me.