Using a Mini-ITX, with the weight and (significant) power issues is really unnecessary. Use a microcontroller like an OOPIC, BX-24, basic stamp, or whatnot. The microcontroller can directly manage your servos, so there's no extra weight for servo controllers needed.
If you use the horizon stabilized autopilot from FMA and just steer it using rudder, you don't need more processing power then that. It significantly drops your costs, increases your payload, the time on target, and more.
$500 is ambitiously low, and you've made some design choices that pretty much automatically push you over that hump without even getting started.
If you want to control them and get telemetry, you have a two way radio serial link. Your plane beams back its position, direction of flight, etc constantly. If you want to re-task it, you either give it new coordinates to orbit over the link, and it then uses the GPS to set itself up, or you give it steering directions manually over the link.
You handle takeoff and landing manually, and that saves you a bundle.