MultiWii is an open source software project aiming to provide the brain of a RC controlled multi rotor flying platform. It is compatible with several hardware boards and sensors.
The first and most famous setup is the association of a Wii Motion Plus and a Arduino pro mini board.
More info can be found here http://www.multiwii.com/
We have updated the MultiWii firmware to support additional sensors:
Download this Multiwii Sketch and flash using the Arduino IDE