To cool to buy a Quad frame build your own! Build you own Ground station. GCS server Wifi enabled Xbee with bluetooth modules. The Idea is to be able to connect to your multi copter no weirs from a mobile phone or PC, tablet no matter what Operating system is being used. I have been working on this for some time. I have this running on a UNO with a double xbee shield, 2.4 xbee, xbee wifly module, Bluetooth wifly module. I would Like to add a web server to the mix to to display GCS data via Http or PHP. I found this Rascal board that uses python that built to do just what I am proposing. Hearer is the code I have so fare no web services yet. Do you think this is useful?





#include "WiFly.h" // We use this for the preinstantiated SpiSerial object.
#include "SoftwareSerial.h"
SoftwareSerial mySerial(6, 5); // RX, TX
SoftwareSerial BluSerial(7, 8); // RX, TX

//ANTENA START
#include
Servo PanServo,TiltServo;
#define pi 3.14159

/************************ SETTINGS ******************************/


//Servo pulse boundaries.
#define panMinPulse 600
#define panMaxPulse 2490
#define tiltMinPulse 550
#define tiltMaxPulse 2450
#define serialBaudRate 57600
char ssid[] = "ssid";
char passphrase[] = "passphrase";
#define panDefaultPos 0.5*pi //Pan default position in radians, should be between 0 and pi.
#define tiltDefaultPos 0.0 //Tilt default position...

#define overlapFactor 1.1 //The factor that determines how much the heading
//must go over the servo limits (180 degrees) for
//the tilt to switch to the other side. I.e.
// 1.1 as default setting gives you an 18 degree "gray
// area" where the pan/tilt doesn't switch sides even
//if the pan servo goes to its limit.

#define servoRefreshInterval 20 //Defines the refresh rate and thus the speed of the servos.
//The lover the value the faster the servos move.


/****************************************************************/


int SerialStatus=0;
int trackerStatus=0;

bool singPositive=true;

byte buf[31];
int bufPointer=0;
bool gotNewFix=false;

int greenLed=12;
int redLed=11;
int actionButton=3;

int tiltCurrentPos=(tiltDefaultPos*180/pi),panCurrentPos=(panDefaultPos*180/pi);


long utm_east=0;
long utm_north=0;
long * tempPointer;
long alt=0;
byte CRCa=0,CRCb=0;

unsigned long time=0,time_last=0;

#define UNINIT 0
#define GOT_STX 1
#define GOT_LENGHT 2
#define GOT_PAYLOAD 3
#define GOT_CRCa 4
#define GOT_WHOLE_MESSAGE 5

#define GOT_TRACKER_POS 1
#define GOT_TRACKER_ORIENTATION 2

long tracker_utm_east=0;
long tracker_utm_north=0;
long tracker_alt=0;
float trackerHeading=0;

float trackerPanSetpoint=panDefaultPos;
float trackerTiltSetpoint=tiltDefaultPos;

void setup() {

Serial.begin(57600);
Serial.println("SPI UART on WiFly Shield terminal tool");
Serial.println("--------------------------------------");
Serial.println();
Serial.println("This is a tool to help you troubleshoot problems with the WiFly shield.");
Serial.println("For consistent results unplug & replug power to your Arduino and WiFly shield.");
Serial.println("(Ensure the serial monitor is not open when you remove power.)");
Serial.println();
Serial.println(WiFly.ip());
delay(100);
Serial.println("Attempting to connect to SPI UART...");
SpiSerial.begin();
Serial.println("Connected to SPI UART.");
Serial.println();

WiFly.begin() ;
Serial.println("WiFly.begin finished.");

//if (!WiFly.join(WEP_MODE)) {Serial.println("Association failed.");
//while (1) {
// Hang on failure.
//}
//}
Serial.println("connecting...");

if (!WiFly.join(ssid, passphrase)) {
Serial.println("Association failed.");
while (1) {
// Hang on failure.
}
}

Serial.println("Associated!");
SpiSerial.print("$$$");
delay(500);
SpiSerial.println("set wlan join 4");
delay(3000);
SpiSerial.println("set wlan ssid Bitter3434_adhoc");
delay(3000);
SpiSerial.println("set wlan chan 1");
delay(3000);
SpiSerial.println("set ip address 192.168.0.88");
delay(3000);
SpiSerial.println("set ip netmask 255.255.255.0");
delay(3000);
SpiSerial.println("set ip dhcp 0");
delay(3000);

Serial.println(" * Use $$$ (with no line ending) to enter WiFly command mode. (\"CMD\")");
Serial.println(" * Then send each command followed by a carriage return.");
Serial.println();

Serial.println("Waiting for input.");
Serial.println();


//ANTENA START

PanServo.attach(9,panMinPulse,panMaxPulse);
TiltServo.attach(10,tiltMinPulse,tiltMaxPulse);
PanServo.write(panDefaultPos*180/pi);
TiltServo.write(tiltDefaultPos*180/pi);
time=time_last=millis();
Serial.begin(serialBaudRate);
pinMode(greenLed,OUTPUT);
pinMode(redLed,OUTPUT);
pinMode(actionButton,INPUT);
digitalWrite(actionButton,HIGH);
digitalWrite(greenLed,LOW);
digitalWrite(redLed,LOW);
}


void loop() {
// Terminal routine

// Always display a response uninterrupted by typing
// but note that this makes the terminal unresponsive
// while a response is being received.
while(SpiSerial.available() > 0) {
Serial.print(SpiSerial.read(), BYTE);
}

if(Serial.available()) { // Outgoing data
SpiSerial.print(Serial.read(), BYTE);

if (Serial.available())
mySerial.print(Serial.read(), BYTE);

if (Serial.available())
Serial.print(Serial.read(), BYTE);

}
//ANTENA START
{


if(Serial.available())
{
byte c=Serial.read();
switch(SerialStatus)
{
case UNINIT:

if(c==0x99)
{
SerialStatus++;
bufPointer=0;

}
break;

case GOT_STX:
if(c==0x21)
{
SerialStatus++;

CRCa=CRCb=0x21;
}
else SerialStatus=UNINIT;
break;
case GOT_LENGHT:
buf[bufPointer++]=c;

CRCa+=c;
CRCb+=CRCa;

if(bufPointer>=29)SerialStatus++;
break;
case GOT_PAYLOAD:
if(c==CRCa)SerialStatus++;
else SerialStatus=UNINIT;
break;
case GOT_CRCa:
if(c==CRCb)SerialStatus++;
else SerialStatus=UNINIT;
break;
case GOT_WHOLE_MESSAGE:
if(buf[1]==8)
{

utm_east=*((long *)&buf[3]);
utm_north=*((long *)&buf[7]);
alt=*((long *)&buf[13]);
gotNewFix=true;
digitalWrite(greenLed,HIGH);

}


SerialStatus=UNINIT;
break;
default:
SerialStatus=UNINIT;
}
}

double deltaEasting=0;
double deltaNorthing=0;
double deltaAlt=0;

double distance=0;
switch(trackerStatus)
{


case UNINIT:
trackerPanSetpoint=panDefaultPos;
trackerTiltSetpoint=tiltDefaultPos;

if(digitalRead(actionButton)==LOW)
{
digitalWrite(redLed,HIGH);
while(digitalRead(actionButton)==LOW);
digitalWrite(redLed,LOW);
tracker_utm_east=utm_east;
tracker_utm_north=utm_north;
tracker_alt=alt;
trackerStatus++;
}
break;
case GOT_TRACKER_POS:
if(digitalRead(actionButton)==LOW)
{
digitalWrite(redLed,HIGH);
while(digitalRead(actionButton)==LOW);
digitalWrite(redLed,LOW);
deltaEasting=utm_east-tracker_utm_east;
deltaNorthing=utm_north-tracker_utm_north;

if(deltaEasting==0) //Easting cannot be zero if we want to calculate the atan(northing/easting).
{
if(deltaNorthing<0)trackerHeading=-(pi)/2;
else if(deltaNorthing!=0)trackerHeading=pi/2;
else break;
trackerStatus++;
break;
}
if(deltaNorthing==0)
{
if(deltaEasting<0)trackerHeading=pi;
else trackerHeading=0;
trackerStatus++;
break;
}

trackerHeading=atan(deltaNorthing/deltaEasting);

if(deltaNorthing<0)if(trackerHeading>0)trackerHeading-=pi;
if(deltaNorthing>0)if(trackerHeading<0)trackerHeading+=pi;

trackerStatus++;
break;
}
break;
case GOT_TRACKER_ORIENTATION: //Now we can do the tracking...

if(!gotNewFix)break;
gotNewFix=false;


deltaEasting=utm_east-tracker_utm_east;
deltaNorthing=utm_north-tracker_utm_north;
deltaAlt=alt-tracker_alt;
if(deltaAlt<0)deltaAlt=0;

distance=sqrt((deltaEasting*deltaEasting)+(deltaNorthing*deltaNorthing));

if(distance>1000)trackerTiltSetpoint=atan(deltaAlt/distance);
else
{
trackerTiltSetpoint=pi/2;
break;
}

if(deltaEasting==0) //Easting cannot be zero if we want to calculate the atan(northing/easting).
{
if(deltaNorthing<0)trackerPanSetpoint=-(pi)/2;
else if(deltaNorthing!=0)trackerPanSetpoint=pi/2;

}
else if(deltaNorthing==0)
{
if(deltaEasting<0)trackerPanSetpoint=pi;
else trackerPanSetpoint=0;
}
else
{
trackerPanSetpoint=atan(deltaNorthing/deltaEasting);

if(deltaNorthing<0)if(trackerPanSetpoint>0)trackerPanSetpoint-=pi;
if(deltaNorthing>0)if(trackerPanSetpoint<0)trackerPanSetpoint+=pi;

trackerPanSetpoint-=trackerHeading;
}

trackerPanSetpoint+=panDefaultPos;

if(trackerPanSetpoint<= (overlapFactor * (-pi)))trackerPanSetpoint+=2*pi;
else if(trackerPanSetpoint>(overlapFactor * pi))trackerPanSetpoint-=2*pi;

if(trackerPanSetpoint<= (overlapFactor * (-pi)))trackerPanSetpoint+=2*pi;
else if(trackerPanSetpoint>(overlapFactor * pi))trackerPanSetpoint-=2*pi;


break;
default:
trackerStatus=UNINIT;
}

time=millis();
if((time-time_last)>=servoRefreshInterval)
{
time_last=time;

digitalWrite(greenLed,LOW);

int panCommand=(int)(180*(trackerPanSetpoint/pi));
int tiltCommand=(int)180*(trackerTiltSetpoint/pi);

if((trackerPanSetpoint<((overlapFactor-1)*(-pi))) || ((trackerPanSetpoint <= ((overlapFactor-1)*pi)) && !singPositive) )
{
tiltCommand=180-tiltCommand;
panCommand+=180;
}
if(trackerPanSetpoint<(overlapFactor-1)*(-pi))singPositive=false;
else if(trackerPanSetpoint > (overlapFactor-1)*pi)singPositive=true;




if(tiltCurrentPos>tiltCommand)tiltCurrentPos--;
else if(tiltCurrentPos

if(panCurrentPos>panCommand)panCurrentPos--;
else if(panCurrentPos

panCurrentPos=constrain(panCurrentPos,0,180);
tiltCurrentPos=constrain(tiltCurrentPos,0,180);
}

PanServo.write(panCurrentPos);
TiltServo.write(tiltCurrentPos);

}
}