quadcopter quick transmitter question.

this is my plan so far for a Arduino based quadcopter: FRAME: MikroKopter 500mm frame - $72.95 http://www.nghobbies.com/cart/index.php?main_page=product_info&products_id=249 BRAIN: ATMEGA 644p serial.1: Xbee--- http://www.sparkfun.com/products/10421 serial.2: 4 PWM for BLDC motors SENSOR STICK: 9DOF board from sparkfun---ADXL345 accelerometer, HMC5883L magnetometer, ITG-3200 gyro http://www.sparkfun.com/products/10724 Lippo alarm---http://static.rcgroups.net/forums/attachments/2/4/5/6/4/a210702-220-MicroScream1.jpg BATTERY: Zippy FlightMax 3s 5000mAH 25c http://www.hobbyking.com/hobbycity/store/uh_viewitem.asp?idproduct=8583 BATTERY CHARGER: Turnigy Accucel-6 50W 5A Balancer/Charger - $33.99 http://www.hobbyking.com/hobbycity/store/uh_viewItem.asp?idProduct=7028 ESC: Turnigy Plush 25amp Speed Controller x 4 - $49.92 @ $12.48 a piece http://www.hobbyking.com/hobbycity/store/uh_viewItem.asp?idProduct=2163 PROPS: APC 10x4.7 propellers set - $8.50 a set http://www.quadroufo.com/product_info.php?products_id=63&osCsid=b06516dc35619309b9fe3e6cd8e13471 MOTORS: Turnigy 2217 20turn 860kv 22A Outrunner x 4 - $56.16 @ $14.04 a piece http://www.hobbyking.com/hobbycity/store/uh_viewItem.asp?idProduct=5691

$73 FRAME $10 ATMEGA 644p $80 Xbee x2 $100 9DOF sensors $5 Lippo alarm $33 Zippy FlightMax 3s 5000mAH 25c $34 Turnigy Accucel-6 50W 5A Balancer/Charger $50 ESC: Turnigy Plush 25amp Speed Controller $9 PROPS: APC 10x4.7 propellers set - $8.50 a set $56 MOTORS: Turnigy 2217 20turn 860kv 22A

TOTAL: $450

my main question is: what is the best way to send/receive info with the quad to another Arduino for control? should i use the xbee i linked to above? and i would need two of them: one for the quad, and one for the "control station"?

thanks