William Thielicke | Tricopter flight through kitchen door @Willa1980 | Uploaded April 2009 | Updated October 2024, 2 hours ago.
I always wanted to start in my kitchen, fly on towards the balcony and do some turns behind the house. Now the Tricopter was finally ready for it.

You can find the source code, PCB and some details on the design here:
shrediquette.blogspot.com