This is the first time I have seen this thread.

I'm not familiar with the Arduino, but I recognized your code as being C/C++. I've been learning to program in Objective-C recently. Your aspirations sort of make me think of a MAME project for RC tanks. Multiple Tank Battle Emulator MTBE? Not sure where you'd get the specs your looking for on the TBU.. I assume IMPACT must have obtained this kind of info, and what about DBU Dave? I have a TBU but no technical info about it.

I can see it being kind of daunting for some RC tank owners though. Especially a DIY unit encompassing all the variables and capability you've been working on. As an RC tank club member, for this kind of system to be acceptable for battle, I think everyone on the field would have to be using it. It is an interesting project though.