Use FlixPeriph library for SBUS

flix/flix.ino

@@ -26,7 +26,7 @@
 float t = NAN; // current step time, s
 float dt; // time delta from previous step, s
 float loopFreq; // loop frequency, Hz
-uint16_t channels[16]; // raw rc channels
+int16_t channels[16]; // raw rc channels
 float controls[RC_CHANNELS]; // normalized controls in range [-1..1] ([0..1] for throttle)
 Vector rates; // angular rates, rad/s
 Vector acc; // accelerometer data, m/s/s

flix/rc.ino

@@ -5,7 +5,7 @@
 
 #include <SBUS.h>
 
-// NOTE: use `cr` command and replace with the actual values
+// NOTE: use 'cr' command to calibrate the RC and put the values here
 int channelNeutral[] = {995, 883, 200, 972, 512, 512};
 int channelMax[] = {1651, 1540, 1713, 1630, 1472, 1472};
 
@@ -14,14 +14,12 @@ SBUS RC(Serial2);
 void setupRC() {
 	Serial.println("Setup RC");
 	RC.begin();
-	Serial2.setRxInvert(true); // SBUS uses inverted signal
 }
 
 void readRC() {
-	bool failsafe, lostFrame;
-	if (RC.read(channels, &failsafe, &lostFrame)) {
-		if (failsafe) { return; } // TODO:
-		if (lostFrame) { return; }
+	if (RC.read()) {
+		SBUSData data = RC.data();
+		memcpy(channels, data.ch, sizeof(channels)); // copy channels data
 		normalizeRC();
 	}
 }