hi i am building a tricopter, i am making the flight controller out of an arduino and have a few questions.

1.> so i assume the esc should be doing the following

       left esc = throttle + pitchpid/4 + rollpid/2

       right esc = throttle + pitchpid/4 - rollpid/2

       tail esc =  throttle - pitchpid/2 

2.> since the esc have a frequency of 50hz, the maximum pid calculations should be 50times per second         right.

3.> are the pid constants going to be different for pitch and roll? as tricopters are unlike quads.

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