"Anyone have a link to a simple interrupt driven sketch that reads one channel and prints out the value?"

"I'm trying to avoid using pulsein on my code for my stepper based antenna tracker.   Here is the link to where I am at if you are curious... http://www.rcgroups.com/forums/showthread.php?t=1529524#post19715075
 
Anyhow I am trying the code above…"

"I am thinking of using the ardupilot board for a 4 rotor or perhaps 3 rotor copter. (fixed pitch blades, direct drive brushless). I'd add 6DOF IMU or ir sensors, GPS and build custom code to drive it. I think the ardupilot should be fast enough.…"