Thanks

The next two things I want to do are:
1-A QML menu for settings and show data from the board;
2-Use the built-in accelerometer to control.

The only problem now is that N900 doesn't support multitouch and different resolutions but the code only use Qt basics libs so I think it should compile to N900 without problems.

What do you mean with collective pitch?
I need to control 4 channels: throttle, yaw, roll and pitch. I'm thinking in the roll, pitch and yaw using the acc and throttle using the screen.