"Just to add to the previous discussion, both autopilots are fine. In fact, all autopilots are fine, all of them are quite similar. All autopilots have control, guidance, and navigation blocks. All of them are implemented quite similarly - linear PID…"

"No, of course they don't use any ArduCopter code. I remember BYU university showing one of the first versions of Kestrel autopilot in 2003 or 2004 on IMAV hosted by us in the University of Arizona and even at that time they were going very strong.…"

"@BoBo Flight 
My experience with speed/reliability is mostly experimental. But I can confirm that lower speed will translate into a greater reliability. Probably this has to do with duration of each bit in the square pulse train of the serial…"

"Jani, thanks for the extended reply!
@BoBo Flight - in my experience it would make sense to stay at 900 band for outdoors as it has less penetration but more pass-around - less packets are lost. As for connection speed it would make sense to switch…"

"Great job! Now, how reliable is this in terms of latency, bandwidth, number of droppped packets and number of control messages per second?"

"Geoffrey, this is a great idea. If it works it may be possible to selectively stabilize against certain color, like sky, ground, or even, say, laser marker points. However, I am not sure about the cost of such filters and if they are actually…"

"Geoffrey, I could add that the infrared thermopile attitude sensor uses the same principle and it works pretty reliably and being used in may DIY MAV projects since ~2003.  I am sure that your sensor will work very well for many projects."

"JC, great job, as always. A lot of hardware/electronics/sersors issues are related to the noise, and proper shielding/filtering techniques are still described as magic. Research in this field is very valuable."

"@Randy I was assuming that uart present on most mcu and some even include sereval of them. In addition bit-banging version is also easily implemented and it even exist for arduino, not to mention that Adruino has a hardware uart as well. Umm in my…"

"I am curious if this will be a flying quad. My reasoning : motors are bigger, so the spin-up time is longer and reaction time will be slower. But on the other hand, the frame is bigger, so the inertia is larger (remember I~distance^2), so this quad…"

"A very similar vehicle (if not exactly same), called (mini)Vertigo was developed in SUPAERO, Toulouse by Prof. Jean-Mark Moschetta and his team about 5-6 years ago. They are still using this for research.
@Joel Venable:
This certainly has gyros in…"

"Krzysztof,
http://www.nal.res.in/MAV08/
this competition had pretty much similar program to what you suggested.
and it was hard"

"This looks pretty sweet!
Questions:
Did you also create the post-processing tools? Can you please explain how it was done or post a reference please?
If not, add a reference too :)"

"Very nice and clean spartan setup!  :)
 
So what happens if desiredAngle=+45 and currentAngle=-45 ?"