For the control input via UART are you connecting a USB->UART interface to the phone, and then talking MAVlink to the ArduPilot (essentially like [1])? Or are

For the control input via UART are you connecting a USB->UART interface to the phone, and then talking MAVlink to the ArduPilot (essentially like [1])? Or are you going lower level and talking multichannel RC control signals, which would then interface to even dumber PID loop-only kind of controllers (eg: KK)? [1] http://www.youtube.com/watch?v=31ULjsqjiYs http://www.youtube.com/watch?v=31ULjsqjiYs