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Hi Koo,
I don't know all the ins and out of the DE2 but I'll try to answer your questions:
1) PWM can be done in a number of ways. Google delta-sigma. PWM is nothing more than a programmable counter that toggles a bit at a certain threshold.
2) Digital for most boards unless there's an A/D converter connected inbetween. Check the DE2 manual
3) Whichever you feel is best for your application.
4) I have no clue. Have you checked Sparkfun yet?
5) Probably not.
Personally, I think a microcontroller would probably be a better solution. Most micros have D/A converters, PWM, and pretty much everything else under the sun for less than a few bucks. Unless your design is completely static (i.e. it's a simple, fixed function) I'd go with an Atmel / Microchip solution. Gets you a free IDE as well!
-Mux
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Thanks for the input. I'm a bit stuck on the de2 board since the whole course is about transistors and gates, not that much about programming. We also have bunch of them to do our labs and projects on, so doesn't make sense for me to spend my own money on a more compact FPGA since arduino is out of question. I already have a working quadcopter with a arduino based flight controller with gps hold etc, so I'd rather spend my time making this instead of a video game on the FPGA.
I was thinking about using the following gyro/accelerometer combo but won't use the accelerometer. Gyro is enough to keep the quad stable but won't stabilize it. How would I get the input from the gyro to de2? I will talk about this with my instructor in next couple days so hopefully he will give me good info as well.
http://www.ebay.com/itm/mpu-6050-module-3-axis-gyroscope-accelerometer-sensor-for-arduino-/281131375001?pt=home_automation_modules&hash=item4174bc5999
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