The code I've been working on for the old school ArduStation is finally at a "usable" level. For anyone interested please visit http://code.google.com/p/ardustation/ for the latest code. I'm open to feature requests and bug reports.
Make sure to check out the short guide I put up at http://code.google.com/p/ardustation/wiki/UsersGuide as full functionality requires a minor change to your ArduCopter code.
Notes: I currently only have 9600kbps Xbees. So the code is setup for that. You can change the baud rates by editing the defines at the beginning. Note that setting a update rate above what your radios can handle will cause undesired results.