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I have ESCs on pins D8 D9 D10 D11 and radio in D4 D5 D6 D7 and I need to sample PWM with interrupts because pulseIn() function is too slow and the quadcopter is not responsive.

My interrupt service routine is ISR(PCINT0_vect) that if I understood triggers on PORTB

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What is your question? I don't understand...
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