Right now, I've got the document hosted on my account on our college's
linux server. You can find it at
http://www.unix.eng.ua.edu/~apike/files/Blackbird.pdf
It's pretty comprehensive of the entire project, since I was trying to
create a doc that would let people who pick up the autopilot system
after me be up and running with as little trouble as possible. I've
left the airframe configuration to the page on the wiki, and only
covered the details of XBee configuration using the transparent
protocols.