"Very interesting indeed !
Do  you plan to support also ultra pwm (800Hz)  or even more quicker udate rate (1200hz) ?"

"Hi,
Very nice project, and smooth fly. Congratulations!
I have a question: you said that sensors datas are collected at 113khz.  This is much higher than the refresh rate of the gyros that I understood to be at 140hz. Did I miss something or is…"