Brain Computer Interface systems rely on lengthy training phases that can last up to months due to the inherent variability in brainwave activity between users. We propose a BCI architecture based on the co-learning between the user and the system through different feedback strategies. Thus, we achieve an operational BCI within minutes. We apply our system to the piloting of an AR.Drone 2.0 quadricopter. We show that our architecture provides better task performance than traditional BCI paradigms within a shorter time frame. We further demonstrate the enthusiasm of users towards our BCI-based interaction modality and how they find it much more enjoyable than traditional interaction modalities.