This Arduino Quadcopter by Kyle Fieldus has iPhone Control, similar to the AR Drone you can tilt the phone to control the quadcopter. Touch OSC is being used to design the phone interface, there is also an Android version available. The system chain is a bit complex since the phone is sending the input data to the computer, the computer determines what should be done on the quadcopter and sends these commands to a computer tethered Arduino via USB. The computer tethered Arduino finally sends the commands to the quadcopter mounted Arduino via Xbee. All of the code and instructions will be made available as soon as this University project has been handed in and graded. You can see the first video here that was taken when the Xbee link between the two Arduinos was tested.