4 channel 50hz PWM in Arduino

Finally had a chance to hop into the lab and test the 4-channel sofware PWM using a scope. I has some jitter, but works pretty well on average. Now need the real ESC's to test the motor response. The rotors we have seem a trifle small for the frame size - which Fabrice has completed with all the bits screwed together. Looking very nice indeed.

The I2C interface on the gumstix is also soldered, now need to send some data out to the arduino and see how it behaves. If only the shipping on the gumstix bit was lower, I would have already ordered the wifi kit to act as a remote.