[JesseK]

Don't forget that another option is pre-processing of lookup tables, if the memory will hold it. 256 data points, 1 per PWM step, would be easy to calculate during sensor initialization and also cut down on cycles. Preprocessing it instead of pre-programming it also allows you to make adjustments to parameters before each match (if needed).

I agree that it's probably not needed for the cRIO, but was very useful for old-school quadrotors on primitive processors. It also helped back in the 90's with signal processing algorithms that needed to be realtime.

Theoretically one could pre-process all of the possible motor outputs versus inputs such that a lookup was done given sensor/driver input instead of a calculation -- but that's a bit overboard.