I've been doing a very similar thing with my QuadCopter project. Basically, a pair of XBees talking to each other and a Joystick on my PC sending serial control commands. I'm using the arduino messaging library to receive the simple control commands on the arduino. Occasionally commands get missed - but these tend to be one-shot commands. The joystick sends continous data when it is moved, so the odd missed message doesn't matter too much.
That's exactly what I have been looking for! Could you, please, share with me a part of the project related to RC control?
Which one messaging library have you used? http://arduino.cc/playground/Code/Messenger
That one or some other? Thank you for pointing me at messenger library it's seems that it is a good way to the solution.