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I am attempting to write a flight controller following the videos by Joop Brokking. I wonder if someone can explain why he chooses to use a 250Hz refresh rate for his ESC controls? The transmitter is sending a pulse every 20ms (50Hz) so it seems that the same received pulse will be sent 4 or...

Just starting out building and programming a drone using a Taranis X9D transmitter but my question is probably for any transmitter. The transmitter can use 4 basic channels for throttle, pitch, roll and yaw. But, in the case of a quad, don't a least two motors have to have their speed changed in...