For those of you interested in building a Lego Mindstorms UAV, two updates:

1) I've improved the RobotC code for the Bluetooth GPS version, in which I caught a lot of bugs. If you were having trouble with it before, download it again and see how it works.

2) At an event in April (can't say more than that), I'll be unveiling the next version of the Lego Mindstorms UAV, which will be a full IMU-driven autopilot. I can't say more about it now, but you'll be blown away. It's not a toy anymore ;-)