[seanwitte]

I just want to point out that, using the current IFI hardware, you can use any processor you want. You can use the existing serial port library from Kevin Watson to build out a protocol to read OI inputs (and optionally local sensor inputs) from the RC. You can then send your PWM commands back to the RC. What you do in between is up to you. The RC will just pass OI inputs to your processor and listen for PWM updates. Very simple, and teams have already done it. With any chip you try to use the major roadblock will be PWM generation. Why not use the RC for that?