This is the code for V2.0 and V2.1 of my RC controller design. The controller is based on an Meduino Mega so you need to choose Arduino Mega 2560 in the tools sections of the Arduino IDE when you are ready to upload. This controller has a lot of functions and as a result the software is quite complicated but if you need to know how to do something, want me to add a feature or want to contribute to the software then share you suggestion in the forum below, another user might have already done it.
This code should work with my RC vehicle library which can be found here.
A schematic for the controller can be found here. It may be useful if you are modifying the code.