I've heard some people mention using bluetooth to communicate with microcontrollers as replacement for a serial or USB & FTDI. Recently some small bluetooth serial modules have become available from large electronics retailers and smaller ones that operate on large internet auction websites. They can be purchased now for just a few bucks. The module has all the bluetooth components integrated and takes 3 volt TTL level RS232 signals. It comes in a surface mountable pcb package, however breakout boards are available that have easily hand solderable headers, and a 3V regulator etc:
Although these modules are 3V, they will work with the 5V APM, so long as there is at least a 1K resistor on the RXD (which is what the 5V TX line on the APM will drive). The 3V signal from the module to the APM is OK as it is.
Starting communication is a matter of pairing with the device which comes up as 'linvor', then enter the default pin (0000). Add a com port to the device - mine comes up as COM8. The baud rate is 9600 by default, but can be changed with a special AT command, I set mine to 57600.
The range is nowhere near the XBees of course, however it is useful to configure PIDS in the back yard etc - it's also nice and cheap.
There is some information in a multiwii discussion here. Also an interesting page with some useful technical info here.
