Quadcopter part 1: the beaglebone black

The first parts for the quadcopter have arrived: the beaglebone black boards that I would like to use as controllers. I bought two, one for use on the quad and another for experimentation and general tinkering. The beaglebone black comes with four PWM output pins I hope can be controlled at the same time, I still have some documentation to read and small experiments to make to find out which interfaces to use best.  Next up would be to figure out which other parts to order first and to get a go at the design of the software to control the quad.