For the roll, pitch, and yaw connections can I use a single-wire connection? i.e. just the signal wire and not ground and power?
I'm a bit squeezed for space and would like to reduce the size of the wire bundle between the two units.
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You can find them from jDrones at least:
6 Pin RC cable
7 Pin RC cable
8 Pin RC cable
Yes, that how we are doing it on ArduCopter kits. But at least provide one ground cable from APM to receiver to make sure that you have good ground connection.
You can look more http://code.google.com/p/arducopter/wiki/AC2_Radio