So according to cuno and co NetMF is a viable processing platform for a quadcopter. I was worried about the GC and it looks like as long as I’m really careful about allocating memory (strings, buffers etc.) I should be okay. It will be like writing code for embedded micro controllers (V25 & HC11) in C not long after I left university,
Have also been reading up about proportional-integral-derivative controllers (PID controller) here and building a basic C# implementation.