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13.05.15 - Update*
For providing the ability of using the real sensors and actuators as well as the simulation to test the quadcopter, we decided to use some interface, which can both, communicate with the hardware or with the simulation.
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To connect the Lego block to the Arduino a Mindstorms NXT cable is ordered, which will be cut open and linked to the microcontroller. For further understanding about wiring and I2C the LEGO MINDSTORMS NXT Hardware Developer Kit.pdf gives a good start. In addition the webpages of leJOS News and Dexter Industries seem to be quite helpful and even give some basic code example. Further information following...
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11.05.15 - Update*
Ultrasonic sensors and bluetooth bridge have been delivered. Communication with Arduino is working.
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