Several tradeoffs were made early in the project's design. Due to time constraints, we abandoned the idea of developing any way of laterally stabilizing the helicopter. Additionally, neither an onboard microprocessor or the electronics necessary to support a wirelessly bridged configuration were going to be possible due to weight constraints.
As a result of these tradeoffs, we were left with plenty of time to tune the helicopter. The helicopter held a stable altitude fairly well, albeit with a bit of oscillation. This oscillation is, in part, characteristic of a the PID control systems we used. The other contributing factor to the oscillation was the helicopter itself. Being a small, plastic toy, any air disturbances in the room greatly affected the helicopter.
In the end, all of our primary goals were met and all of the hardware in use worked. However, we were not able to achieve some of the secondary goals we had set for ourselves at the beginning of the project.