In my focus on the Lego UAV, I forgot to mention that I've also uploaded the Visual Basic source code for our cellphone autopilot. It's in pretty good shape, and just needs a little more tweaking for reliable airbone use. If you're comfortable with Visual Studio and Windows Mobile, this is a great starting point for cellphone-based aerial control, communications and imaging. The code is here.
Anybody recognize where I stole the image that is on the program's opening splash screen? (Shown here on the Windows emulator. Weirdly, the emulator blocks screen shots, so I had to photography the screen. Apols for the poor quality...)