Your using An Arduno ATmega2560, not a bad board if your setting it up to use from a computer monitor keyboard interface. but i know in order to set up a receiver it had to have compatible parts. this is something i personally had to troubleshoot with one of my drones.
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Yes @stray we using a Mega...you right there is still alot of testing to be done especially the PID control.
@stray thanks for the email.