Arduino UNO is limited, but ther is the Arduino Mega that has much more memory.
Thank you if you can share something. I'll share mine later.
I'm in a own project called RabdakPilot: build a boat autopilot and trying learn from others. My project is in advanced status and near to heavy water tests. If you want know more about, just google rabadakpilot and watch my project.
Hope share ideas about.
Warm regards from Portugal
PS. this is a PDF file with the prototype