The Wash UAV uses an Arduino Mini, Maxbotix ultrasonic sensors, and a HMC6352 compass module on a BladeCx2 heli. It looks like they're very close to full autonomy.
[from SparkFun]

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Comment by bGatti on December 12, 2008 at 8:44am
From the video and description, it seems there is no PID for the control feedbacks. The current software will always produce an oscillating flight.

What I saw, was that every position x resulted in a given cyclic adjustment on the x axis. for stable flight, the software will need to integrate the /rate of change/ for x back into the cyclic adjustment.

The flight patterns bears out the science.

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