Hi,
The PCM is a standard across manufacturers, as the servo pulses are derived directly from the baseband PCM. All you need to do is locate the PCM pulses in your receiver and make a connection to it > pin 8 arduino.
Mem's library (servo decode) will have you up and running in no time.
I've had some major luck with new filtering for the gyros and accels, I can sense a rotation of less than a degree accurately and use the feedback to smooth movements. Also I've achieved a filter system to detect linear, tilt compensated accelerations without the gravity component. All of this means the helicopter should be flying very steadily very soon.
All the best!
Ed