This project aims to create a quadcopter for usage in cave exploration. The quadcopter receiver communicates with the flight controller via PPM, the X-frame is custom machined from carbon fiber, and the controller is capable of communicating with the receiver from over 50 meters away using the ESP-NOW protocol. While this project accomplished flight in three dimensions and has the ability to hover, we have plans for future improvements. Those involve implementing a protective cage and using sensors to generate a model of its surroundings.