sounds great! hopefully someone will translate your tutorial.
i'm wondering if an arduino quadcopter was possible (see mikrokopter.de (german project page), they're using an ATMEGA644 for their flightctrl-board).
did you look into this option or do you want to stick to your helicopter?
i asked a friend who's currently visiting korea to see if he can get me some brushless dc-motors plus controllers as these are quite expensive here... hopefully he did not not forget about me 
we should have a forum fork for aerial research and get arduino into the air! navigating autonomously :
great work!
kuk