PICAXE programming is beginning to become kind of dated, and writing stabilization firmware is no easy task. Even with all of the opensource softwares for Arduino it is easily a minimum of a 4 month task.
Hahaha, sounds good, but remember that you will need to incorporate some stabilization.Thnx for ur note on picaxe, but I just use it to send throttle sigs. In a tethered environment, I will send a low speed to all motors, and visually adjust 4 equal speeds. Then I will increase speed for a minimal ascent. So I am an experimenter.