Hooked a HCD handset up to an Arduino to send raw joystick values to my tracking software.
The tracking software then sent the joystick commands via. another Arduino with a BK2421 radio to a HCD.
This tells me that my tracking software is able to control a Quadcopter (for now with a little help from a pilot).
Next step is to create a control-loop that will enable me to fly one or more Quadrotors under complete software control.
Here is a video of one of the first tests.