Hey @f86k, I have actually done lots of research on this topic. The commands are sent at a max rate of 500Hz. I’m using this method because it allows true immediate control which simply isn’t possible with the regular interval commands. JFP can also do smooth curves instead of straight lines with the Cubic & Cosine function. This makes a big difference with the right servos.
Edit: I did notice a mistake in my interpolation since my last code cleanup. I should have a fix uploaded soon 
It has been fixed. The ‘Cubic’ mode should be very smooth again.