The piCopter project uses a Raspberry Pi as a fight controller for a quadcopter. The Raspberry Pi controlls the ESCs (Electronic Speed Controller) using PWM signals and the ESCs control the motors. The quadcopter is controlled using a computer through WiFi.
Python was used to write the program on the Raspberry Pi. PWM signals produced using the pigpio library, which is written in C with a Python wrapper.
Client end is written in Java.
Communication is done using Berkeley Sockets connections.