Oh my friends you made me come back with my previous project (that didn't manage to finish yet!)
Well I have tried all methods available with previous mentioned hw and a few not-listed here one.

The problem I came accross was with picbasic pwm routines to pass-through servos signal .

Just to remind: In addition to ALT measurement I also use a servo in and a setvo out pin to pass-through the throttle signal and actually cut the throtle when 200m ALT reached!

All experiments with oversampling or no , with opamp etc worked ok when I connect servo (for throttle) -although a little bit of jerky movement servo works! , but everytime it comes to use SpeedControl it does not arm and this has to do with delays on servo routines.