Did you manage to have a crack at programming your ESCs Adam? If so, how'd it go? I have a feeling we might've talked about it at Wales but my memory's terrible.

And apologies in general for the thread bump, but any chance this can be made a Sticky thread please? The stuff in the first post in particular is pretty useful but I always forget where this thread is when I need to look it up and it gradually works its way down the topic pages.