Hello all I am writing to try to get some help with servo control.

I am wanting to use the Ardupilot to control three servos as well as wirelessly send data to the ground.  I am not having trouble wirelessly telemeting data however.  Before I start I am using S3151 Futaba servos if it matters.

Whenever I run the ArduPilot_SensorHead code and try to pulse the servos they behave very erratically.  From what I understand pulsing a servo (or storing a value to OCR1A) of 1900 should make the servo spin in a counter clockwise direction until it reaches a 90 degrees from center.  However I place the code in the main loop to do so and the servo spins erratically (counter clockwise, clockwise, jitter, etc).  I know that the a value of 1100 should pin it in a clockwise direction but this behaves erratically.  Due to this, I cannot get any servos to exhibit any stable behavior and I'm not sure exactly why. 

I originally was trying to do the same thing with the ArduPilot 2.6 code by commenting out everything but init_PWM() and calling demo_servos() over and over again.  This however doesn't allow the servos to move at all after the initial download of code to the board.

I was trying to look over the timer masks and interrupt settings and I wanted to make sure the following PDF had the correct information.  If it is the correct manual I will have to sit down and read through quite a bit of it to understand what exactly is going on here.  I am not a master when it comes to an understanding of PWM either so this may be also leading to my confusion.

Any help anyone can give would be great.  Thanks in advance for the help.