Here’s a work-in-progress, from a guy who’s building a mini UAV, using a Blade CX2 R/C helicopter and the awesome Parallax Propeller Chip. He writes of the build:

The CX2 controller has 4 potentiometers into which I spliced a breadboard.  A Parallax Propeller (prop chip) is used to read the control stick voltages through a simple Delta – Sigma ADC… receive live data from another prop-based system resident on the heli, some control laws are (will be) applied, and the new voltages are output using a PWM based DAC (couplea caps, couplea resistors…).  The prop also can talk to a laptop thru its USB port.  I have some java code which displays various outputs (very much a work in progress and not currently a high priority).

Helicontrol – [via] Link

From the pages of MAKE:
Propeller Chip. BASIC Stamp’s Chip Gracey puts a new spin on microcontrollers. Read this article in MAKE: 10: Home Electronics, Page 76. To get MAKE, subscribe or purchase single volumes. Subscribers–read this article now in your digital edition!