PWM ESC's

Hi,

I am designing a QuadCopter based on the ArduPilot and just wanted to check that the ESC's which I require do not have to be I2C? They can be just standard off the shelf ones (PWM?). The I2C is a future feature, right? - I have seen some comments and a video by Jani.

Many Thanks.

Regards,
Tom

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