Nice job, i didn't have time to read all the comments, but i like your work =), please keep going...
check this out:
http://diydrones.com/profiles/blogs/705844:BlogPost:38393
But i suggest to use external interrupts with a hardware timer to count the pulses... Without wasting CPU power, the secret is never use pulseIn and delays, NEVER! :
I been working on ArduCopter V2, using better Kalman Filters and a real accelerometer (no more Wii).. It uses zero delays and is very efficient... I also rewrite the Labview grounds station.. I want to use it also to mount it in the new helicopters without fly bar...
But i'm busy here doing other tasks...
Take care.