"I down loaded the code and looked through it. Looks pretty straight forward, although the pins you're using on the prop were a bit hard to find. The eagle files would be nice just as a schematic for the rest of the circuit."

"I wrote a spin object for reading servo PWM commands as output from a receiver. http://obex.parallax.com/objects/331/

Might be helpful on this project. Also, are there more details on this project available? I have Prop Demo board, 5DOF board, and…"