From today's questions about iOS target - actually since Xcode 7 which came out this year there is no need to pay anything Apple to load your own code on device. You need to only register with developer program (it's free), install Xcode (it's also free) and then you can sign and sideload applications on your device for free. Yes, no more 100$/y. And no need to jailbreak anything.
It's not very end-user friendly, but it is definitely much more developer friendly than before.
http://9to5mac.com/2015/06/10/xco...d-and-sideload-ios-apps-for-free/
Here's a decent step by step guide:
http://www.idownloadblog.com/2015...o-run-on-a-non-jailbroken-device/
You still need to pay 99$/y to publish to iTunes store, but that's the same situation as with Android development.