Still a bit of a thought on a napkin. I've had an Intel Edison kicking around for a little while that will be the brains of the prototype. A breakout for the PCA9685 just came in the mail, and some servos. Got headers installed on the breakout, but haven't figured out how to set the registers on the PCA9685 correctly yet.

Next steps are to acquire some gearmotors, a GPS / compass / accelerometer and h-bridge drivers for my Edison, and eventually a basic hull to begin working on integrating an autopilot.