[Guy Davidson]

To add to that:

-Built in gyro support, with oversampling, noice reduction, integration, and all that jazz done on the FPGA level.

-Similarly, the ability to use similar tools (oversampling and other noise reduction techniques) on sensors that don't require intgration (such as pots, absolute magnetic encoders, and analog rangefinders).

-Again, I'm not sure if this is FPGA level stuff, but the ability to write out some PWMs faster than others (just like we were able to do with pwms 13-16 on the IFI control system). This could be useful to run tight and powerful control loops, particularly on the drive train.