So, apparently the software I found can only support pins 9 and 10
for servo control. I have a feeling it's something to do with a lack
of timers on the ATMEGA168 Chip. But I am unwilling to believe in
the limitation until I have read, understood and can confirm it in
the code and hardware myself.

It's looking like this craft will be a twin Arduino System at minium
with either a) some clever coding or b) some clever hardware.
Still, anything that can be made simpler via digital control on
a system as complex as this would be beneficial in my opinion.

So long as it proves to be reliable.