A simple parafoil design with all control functions running on a single AVR microcontroller. This drives a servo, possibly a winch servo, to control a modified parafoil kite by draglines or C of G shift.
A cheap parafoil off ebay will be used for development and possible launches from altitude.
The second servo channel can be used when under RC control for an ESC. As there is just under 1KB of flash free, a bootloader, probably from here could be used, although the GPS and radio are using the UART, so a jumper would be required.