"No self leveling yet, that will come when i add accelerometers. ESCs are Turnigy Plush 18A (really cheap) and they are PWM. Control loop runs at 200Hz and the Turnigy seems to be handling this update rate fine."
Thought you all might be interested in a little project of mine: http://www.youtube.com/watch?v=JlVdgNMQO6QCurrently only uses a Wii MotionPlus to provide augmented stability. Processor is a dsPIC running at 40MIPS