That is one very neat installation.
The servo boards give very good proportional control, albeit with a very small deadband. With old type transmitters this could be put to good use by ignoring the stick, and using the trim slider as an engine room telegraph. If you need that power but want a more conventional response, Actions Pico ESCs do the job, and are about the same size and weight.
What are the couplers? I have mostly settled on the flint springs from disposable lighters as being highly available, and, with their tapered ends, a good fit on a range of shafts and especially good on the very short bit of shaft you get on a servo motor.