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If you are using a normal RC system and not a spread spectrum system then the signals do not overlap. A pic can easily read 4 signals to an accuracy of 1uS (or better) and it will still have 98% of it's processing power available. The only interrupt required is the PortB change (IOC) and so all other interrupts are still available for the other devices.
Mike.
this is the calculationI have no clue actually how it will work.
t=R*C
20ms * 100 = 2 seconds
2s / 1000ohm = 0,002F = 2mF = 2000uF
2s / 2000ohm = 1000uF
2s / 1mega ohm = 0,000002F = 2uF