RC model helicopter prices have reached a point where all sorts of challenging (i.e. crash-prone) robotics projects become affordable. This document explains how to build a 300 g, 3D-capable helicopter with embedded Linux and Bluetooth datalink for less than 500 EUR. As a proof of concept has been built which allows the helicopter to be remotely controlled over Bluetooth with a PC joystick. Really nice effort and truely awe inspiring http://perso.orange.fr/pascal.brisset/chromicro/doc/chromicro.html#id2789228