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Check out these guys at ETH Zurich. They have an open source quadrotor control package, though their main product is an optical flow sensor.

https://pixhawk.ethz.ch/



I would characterize their main efforts as building a modular autopilot software & hardware infrastructure, for which the optical flow sensor is one part. They are both an academic research group & generous providers of an open source platform competitive with the best out there.

Also check out Openpilot & Paparazzi--of which http://transition-robotics.com is a good current example.




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