Then you missed the gist of my posts. UDP is a bad choice for bi-directional command and control data. It creates unnecessary complex overhead on a system that already has limited resources. Use the right tool for the task at hand. UDP for uni-directional telem data. TCP for bi-directional command and control.
What is the status of this project, any new news about it?
I would like to know as well found this but I think its along the same lines:
thinking about doing this instead for my project: