It is the same assembly with the previous. But this time, it's now powered by LPCXpresso (LPC1114) running CoOS. It's also controllable by bluetooth joystick.
source code (with all the revisions):
svn co http://yus-repo.googlecode.com/svn/trunk/Bots/quad_lpc1114
* source code can be build using Sourcery CodeBench Lite for ARM-EABI
* I'm using lpc21isp to load the binaries for the lpc1114 using built-in serial bootloader.
* demo video is on my previous post.