mamaretti,
I took some time to take a crack at this. I'm 99% sure at this point we need the instruction for compiling the firmware (via Eclipse or otherwise). I traced back the code and although there is some support in the firmware for UDP, there is a stack of functionality that needs to be added in to the firmware for the WiFi libraries to even begin implementing UDP. If it were just WiFi libs, we could get started right now.
There are missing functions to create/send/end UDP packets and communicate these requests through SPI interface to the wifi chipset, etc... They're all there for TCP, but not for UDP.
I'll continue to harass the devs 
Perhaps you should use your network and resources to see if you can get more people interested in this and make some additional requests. The more the merrier.