Thesis:
While I know it might not be super use full for the group of "hackers" here I will post a link to my thesis. There might be some mistakes, technical or grammatical. Feel free to contact me, if you find any.

The thesis is available in the GitHub repo https://github.com/skrogh/oDroidDrone

Source:

I was a bit hesitant to add a link to the source code as it, at the moment, is super super messy. I got a bit hurried in the end and have not had time to clean the code up.
Only the source code for the visual odometry and position controller is online at the moment.