Hi TVE,
i would be very appriciated if you could send me your code about your DF
I use powerful DSC dsPIC30F6014 from Microchip and C30 to compile the entire program,it can hande all the maths routines,deal with floating point ,Kalman filters,averaging sampling,PD control algorithm with small amount of time (<1ms).I'm happy with its performance but it rather hot ,may be it's more hot than MOSFETs!,the MOSFETs stay cool (however there is no problem at all)
To ADI:I'm waiting for the day you add my website to your links(ofcourse,my heli must have to be very stable first )
Best regards!