Is this what you are looking for?
If it is. You'll see "Heli hacker's" blog on that web site and also a discussion here on RCGroups.
His blog: http://www.rcgroups.com/forums/member.php?u=187518
RCG discussion: http://www.rcgroups.com/forums/showthread.php?t=1233263
I must say, it sounds interesting.