Multirotor specific firmware for your ESC.
16MHz operation on most boards
16-bit output PWM with full clock rate resolution (~18kHz PWM with a POWER_RANGE of 800 steps)
24-bit timing and PPM pulse tracking at full clock rate resolution
ICP-based pulse time recording (on supported hardware) for zero throttle jitter
Immediate PPM input to PWM output for best possible multicopter response (eg: ideal for tricopters, quadcopters, etc., but NOT where where slow-start or really any significant current limiting is needed!)
Accepts 495Hz PPM update rates (minimum ~5microseconds PPM low time)
Optimized interrupt code (very low minimum PWM and reduced full throttle bump, and should work beyond 120,000 RPM
Configurable board pin assignments by include file
Improved startup (though heavy hard drives are still a bit dodgy - suggestions/patches welcome!)
Forward and reverse commutation supported, including RC-car style reverse-neutral-forward PPM ranges, with optional braking
Links;
RC Groups Thread on re-flashing the firmware on you ESC.
http://www.rcgroups.com/forums/showthread.php?t=1513678
Firmware
https://github.com/sim-/tgy
USBASP Programmer
http://www.protostack.com/accessories/usbasp-avr-programmer
Lots of these available on Ebay
driver
http://www.fischl.de/usbasp/
xtreme burner
http://extremeelectronics.co.in/avr-tutorials/gui-software-for-usbasp-based-usb-avr-programmers/
KKFlashtool
http://lazyzero.de/kkflashtool
List of compatible ESCs (I'm sure there are a lot more than these)
https://docs.google.com/spreadsheet/ccc?key=0AhR02IDNb7_MdEhfVjk3MkRHVzhKdjU1YzdBQkZZRlE#gid=0
