This video shows a Bluetooth PPM receiver , which can be used for indoor quad-copter flying from your mobile phone or computer, or from RF pairs with RX/TX pins for outdoor, just input 8 bytes
https://www.youtube.com/watch?v=bhqH654aSxs
Computer Controlled RC copter
using a normal RC helicopter toy, i hack the remote (hardware) and control it through netduino, and digital POTs