Project is at https://github.com/KipK/Ghettostation - video at https://www.youtube.com/watch?v=tiO4YCX7hJo - you can hear the modulation in https://www.youtube.com/watch?v=nm0okv8mTsg
They usually use simple FSK just like the "real life" helicopter in the article.
Here's an example of a common simple protocol:
Set your time machine for 1958, or follow this link [0] to see how RCA did both FM stereo (throughout the article they call it "multiplex") and 67 KHz "SCA" subcarriers. Admire the awesome 5KW FM transmitter cabinetry and transformer shielding.
According to Wikipedia, the transition started in 1960, so we're two years away when this article was published.