A little know fact is that the iPhone can indeed send/recieve serial data through the dock connector(jail broken of course). My idea is to interface the iPhone with an xbee and have commands that can be executed with a tap of a button. Eventually mission planning could be implemented in order to Remove the need for a laptop in the field. Any comments? I estimate $30 in hardware costs to connect the xbee to the iPhone. 

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As long as you use mavlink mesages for command control it should work. Also, you can create your app as Mac objective c. The arduino helps with the uart messages with processing data. If you can get the iPhone device to act like a arduino it will process the information.

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