Diy flight controller

hi there i was wondering what would it take to build my own flight controller the will work with ardupilot i know there is the apm and pix hawk but i am building a drone and i am whanting it to be as diy as possible and also for my own fun

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Hello
Take a look here:
https://discuss.ardupilot.org/t/building-an-autopilot-from-scratch-using-a-raspberrypi-zero-mini-zee/

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