How-to from rebirth package:
http://cloudef.eu/pnd/milkyhelper-howto.txt

You can also install milkyhelper on NAND:
http://cloudef.eu/pnd/milkyhelper_3.0.6-6_armv7a.ipk
opkg install [path to .ipk]

Changes in 3.0.6-5
- Less ram usage
- Cursor hidden when progress bar is shown
- Other small fixes

Changes in 3.0.5-1
- Crawling overrides server modified time with local causing update issues
- New gzip masterlist support
- Server timestamp support
- -E option to to open configuration file in $EDITOR
- Other small fixes
- Dropped rxvt for default terminal (suggest making default colors brighter)

Changes in 3.0.2-1
- Change comment api access syntax around
* -Ac [packages] [comment] for commenting
* -Acp [packages] for pulling comments
* -Acd [packages] [needle] for deleting comment with needle
- Minor fixes

Bundled is milkshakes-repo-keygen, which you
can pipe to 'milky -A' if you don't want to use
web browser to retieve API key.

NOTE: I suggest doing 'milky -C' or cleaning libpndman
appdata files manually, before using the new release.
You can crawl back the local PND's with 'milky -P'.

Github: https://github.com/Cloudef/libpndman