4 PWM in & 4 PWM out at 200/333hz for digital servos

Hi everyone.

Some weeks ago I decided to start a project that consists in creating a flybarless stabilization unit for radio-controlled helicopters based on Arduino boards. I tried to get the necessary infos, but I still have some doubts.

Specifically, I need 4 PWM inputs from my rc hobby receiver at a frequency between 50 and 100Hz (it doesn't makes any difference), and 4 PWM outputs at 200 or 333Hz with at least 10 bit resolution to control my digital servos. All that mantaining the possibility to connect a 3-axis gyro and 3-axis accelerometer sensor to detect the heli's movements.

If such a board exists, which is?