Cybords Fly a Model Airplane with Adjustable Pitch and Continuous Roll
I cast a number of multi-microcontroller projects under the name Cybords. My most successful ran Bynase, a simplification of Cynase, my original biologically inspired protocol. Cynase was to be the messaging employed by the never realized Cybord hardware modules. page 
I created a half-dozen or more single-purpose modules programmed into Atmel AVR Tiny12 microcontrollers.
I built a number of projects by scavenging modules as-is out of old projects and wiring them into new ones. No additional programming required.