OsoGrande got me into brushed microquadcopters recently. Sparky2 has some buffered outputs so at first I was just slapping it on frames and jury rigging things together. Very quickly, I wanted something more elegant.
I also wanted to make it easier to use an RFM22b TauLink for control while relaying the data to android, so I made a radio link board that is designed to go into a JR socket.
Which leaves me with a pretty nice system for micro FPV flying.
For a longer writeup check out my blog post.