Smartphones, it seems, can do anything. When researchers at Germany's Fraunhofer Institute for Integrated Circuits were asked to come up with a camera that could be mounted on an eagle to get a literal bird's-eye view of its life, they too turned to a cell phone.

Cheers,

Recently we have developed a Visual inertial approach for Hexacopter platform (arducopter) to do SLAM (Localization and mapping----- without GPS or other absolute sensor).  

The vision node is designed to provide full 6DOF vehicle pose measurements, whilst the low-cost inertial system designed in house (less than $40AUD) enables continuous metric mapping and navigation. Indoor and outdoor experiment results are performed, demonstrating the robustness of the proposed
approach in challenging environmental conditions. (The publication is under review and soon the documentation will be updated)

Cheers

We have developed a PID position controller that can communicate with arducopter via 3DR radio. The position controller is running on the ground computer and transmitting the commands to hexacopter at 50HZ via mavlink protocol. The mavlink packet used during our test flights is "set_roll_pitch_yaw_thrust_send". We have tested the hovering flight for the developed controller. Please email me, if source code is required.

Thanks