Explains how to build a 300 g, 3D-capable helicopter with embedded Linux . The helicopter can be remotely controlled over Bluetooth with a PC joystick.Today RC model helicopter prices have reached a point where all sorts of challenging (i.e. crash-prone) robotics projects become affordable. You can build it for less than 500 EUR.
http://perso.wanadoo.fr/pascal.brisset/chromicro/doc/chromicro.html