This guy built a "heli shield" for an Arduino dev board. Code is available here.

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Comment by Aldo Vargas on December 17, 2009 at 1:00pm
hi! do you still have a copy of that code? the web page is no longer online....
Comment by stelios stamatakis on October 17, 2010 at 2:14am
Ηello,
i need the code too.Can you please upload it ?
Thanks!

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