a.ino

#include "PinChangeInterrupt.h"

// Choose a valid PinChangeInterrupt pin of your Arduino board
#define pcintThrottle 12 // A4
#define pcintAileron 13 // A5
/* #define pcintThrottle 13 // A4 */

volatile int thro_pwm_value = 0;
volatile int thro_prev_time = 0;
volatile int aile_pwm_value = 0;
volatile int aile_prev_time = 0;

void rising1(void);
void falling1(void);

void rising2(void);
void falling2(void);

void rising1(void) {
  thro_prev_time = micros();
  /* Serial.println("rising1"); */
  attachPCINT(pcintThrottle, falling1, FALLING);
}

void falling1(void) {
  thro_pwm_value = micros() - thro_prev_time;
  /* Serial.println("falling1"); */
  attachPCINT(pcintThrottle, rising1, RISING);
}

void rising2(void) {
  aile_prev_time = micros();
  Serial.println("rising2");
  attachPCINT(pcintThrottle, falling2, FALLING);
}

void falling2(void) {
  aile_pwm_value = micros() - aile_prev_time;
  Serial.println("falling2");
  attachPCINT(pcintThrottle, rising2, RISING);
}

void setup() {
  // set pin to input with a pullup, led to output
  pinMode(pcintThrottle, INPUT_PULLUP);
  pinMode(pcintAileron, INPUT_PULLUP);

  // Attach the new PinChangeInterrupt and enable event function below
  /* attachPCINT(pcintThrottle, rising1, RISING); */
  /* attachPCINT(pcintThrottle, rising2, RISING); */
  attachPCINT(pcintAileron, rising2, RISING);

  Serial.begin(115200);
}

void loop() {
  /* Serial.print(thro_pwm_value); */
  /* Serial.print(" "); */
  /* Serial.println(aile_pwm_value); */
  /* delay(500); */
}