Here a homemade pitchcontrolled Quadcopter powered by a Nitro Engine.
Walter the Owner build it 10 Years ago and dug it out of his Basement after 7 Years to demonstrate that it actually can Hover with the way he build it 10 Years ago. However due to not proper adjusted Nitro engine and other Factors he oinkly did a short Hover.
Walter received a Price for most innovative Build at LandKamp 2011