I wolud like to share with you, two talks that I have made this year in two national security congresses.

The first one was in RootedCON 2013 in Madrid, Spain[Spanish]:

David Meléndez Cano - Trash Robotic Router Platform (TRRP) [Rooted CON 2013] from rootedcon on Vimeo.

In both talks I present a Router based ROV [Texas Ranger] and a Fonera quadcopter [Atropos] also posted here time ago http://diydrones.com/profiles/blogs/atropos-fonera-based-quadrocopter 

The first one was in RootedCON 2013 in Madrid, Spain[Spanish]

And the second one has been las month, in NavajaNegra, Albacete, Spain[Spanish]

Pretty much of my knowledge comes from this site forum, specially  PID implementation and tuning, so thank you guys!

I have been working for a year on my home-made quad. It is made with wood, and it is controlled via wifi using a Fonera Router

Both WII NK and WM+  sensors gives the information to the router throughout custom CPU GPIO pins. To achieve I2C communication a especial linux kernel module is used to make an emulated i2c port with every 2 GPIO pins available.

The user can pilot the aircraft with a HTML5 and canvas web interface, making AJAX request on every key stroke or mouse movement. Telemetry is received with COMET (SERVER Push) HTTP information and Javascript is used to manage the entire page.

Fonera sends rotor commands to a 16F876 PIC, which generates PPM signals to manage ESC ( Electronic Speed Controllers). Those ESC are the power stage to trifasic motors.

To achieve very fast and less time consuming requests, http router web server has been modified on it's source code, to process all the AJAX requests in a RAM shared memory portion on the router.

Software control is home-made, and suited to be run into Fonera. It reads nunchuck and motion+ wii sensors, applies a low-pass filter, and a 2^ndcomplementary filter (The RoyLB implementation ->thnx!) on every loop which has been previously readed.

Now I'm testing better PID values...