Atropos is a wifi operated quadrocopter system. It uses a Fonera 2201 with a custom compiled version of GNU/Linux OpenWRT.  A set of wii sensors gives the information to the router throughout custom CPU GPIO pins. To achieve I2C communication a especial linux kernel module is used to make an emulated i2c port with every 2 GPIO pins available  Atropos is remotely operated by a wifi link, powered by a Fonera router. The user can pilot the aircraft with a HTML5 and canvas web interface, making AJAX request on every key stroke or mouse movement. Telemetry is received with COMET (SERVER Push) HTTP information and Javascript is used to manage the entire page.  Fonera sends rotor commands to a 16F876 PIC, which generates PPM signals to manage ESC ( Electronic Speed Controllers). Those ESC are the power stage to trifasic motors.  To achieve very fast and less time consuming requests, http router web server has been modified on it's source code, to process all the AJAX requests in a RAM shared memory portion on the router.  Software control is completely home-made, and suited to be run into Fonera. It reads nunchuck and motion+ wii sensors, applies a low-pass filter, and a 2nd complementary filter on every loop which has been previously readed. Finally three PID controls manage rotor speed to guarantee stability.  Managing the aircraft with keyboard control is almost impossible. Due to this I developed a C program to translate USB Gamepads events into fixed-timed HTTP requests. This can be ported to any other control, making very easy to adapt to mobile devices, like phones, tablets, etc.