This is my first self-made Tricopter. It has a Y-configuration without a dedicated controller: See David's helpful guide at rcexplorer.se/projects/tricopter/tricopter.html. Each of the three brushless motors is controlled by one gyro. For yaw control the back motor can be tilted by a servo which is controlled by an additional gyro. All parts including Rx and LiPo (3s, 2.2 Ah, 15C) cost less than 170 USD. The setup is tricky and the unusual flying characteristics make this Tricopter not suitable for heli pilot beginners. Anyway, mastering difficulties gives us "some satisfaction!" - doesn't it?!
The cam is a GoPro HD Hero (goprocameraDOTcom, 300 USD) and weights additional 160 g. The whole Tricopter ready to fly including LiPo and cam weights 1.04 kg. The props are 'normal' counterclockwise turning 10x4.7 slowflyer props.
See my other vids at vimeo.com/luckyrotor/videos
Enjoy & have a nice day, luckyrotor