MultiWii

can i program the multiwii by arduino?
i mean, i want to make a quadocopter that follow my smartphone and its somthing that require programming... its not just quadocopter stabilize.
i need a way to access to the gyro/accel/magno/baro/GPS and dont know how to do this. please help!

Multiwii already has a basic follow me function when used with the latest nav beta and multiwii ezgui on Android. Don't expect too much, though.. Bluetooth has very limited range afterall.