"Oh, and I meant less aggressive PID values for a bigger quad as opposed to the tiny one. I used the tiny quad on top of the big one to control the motors and found I had to reduce almost every parameter. Which I sortof expected given the entirely…"

"Yes, that trick doesn't work for every RX (probably not even for many).
Marko's trick could help in the case of zero gap between channels or'ing odd and even channels. But again, I think using the serial data is a much more elegant solution.
Do the…"

"In the past I found it convenient to OR all the signals together and use a single pin to read all channels. This works only for the slow dsm2 receivers though and still requires a lot of headers on the board. I like your take of reading the serial…"