Ardupilot on my self constructed quadcopter frame - Testflight indoors

One of the first flights of my quadcopter.
I built this frame on my own from the scratch using Suppo A2212/13 brushless motors witch SimonK 20A ESCs from flyduino with 10"x4,5 props.
The stabilization system ist an open source project called Ardupilot Mega 2.5 with UBlox GPS for "position hold" and "return to launch" functions.
This is my first quadcopter project. In the video the ardupilot board is connected via USB to my PC using it as a control station.
First i'm flying in stabilization mode, switching to altitude hold afterwords. When it bumps on the ground I was switching back to stabilization mode.

[@AlexanderHenz]