Instead of building quad controller board from scratch (my attempts to do this are here https://www.youtube.com/watch?v=icYXOJ-ONnc and here http://www.youtube.com/watch?v=vbCuCqe_wsk) the better way is to change a concept a little.
On this quad below I use NAZA M V2 flight controller and 4G receiver that links NAZA to internet.
By this setup I can use all neat features that Naza provide: great stabilization, GPS position hold, return to home etc., and control quad via internet by FPV.
This add-on 4G receiver board can work with any other flight controller not only with Naza.
What it gives - unlimited range within GSM network coverage and FPV via same GSM link.
On another end - contorl panel on iPad and 4G wifi router.