Use FlixPeriph library for SBUS

gazebo/SBUS.h

@@ -5,13 +5,20 @@
 
 #include "joystick.h"
 
+struct SBUSData {
+	int16_t ch[16];
+};
+
 class SBUS {
 public:
 	SBUS(HardwareSerial& bus) {};
 	void begin() {};
-	bool read(int16_t *channels, bool *failsafe, bool *lostFrame) { // NOTE: on the hardware channels is uint16_t
-		*failsafe = false;
-		*lostFrame = false;
-		return joystickGet();
+	bool read() { return joystickGet(); };
+	SBUSData data() {
+		SBUSData data;
+		for (uint8_t i = 0; i < 16; i++) {
+			data.ch[i] = channels[i];
+		}
+		return data;
 	};
 };

gazebo/flix.h

@@ -23,7 +23,7 @@ float t = NAN;
 float dt;
 float loopFreq;
 float motors[4];
-int16_t channels[16]; // raw rc channels WARNING: unsigned on hardware
+int16_t channels[16]; // raw rc channels
 float controls[RC_CHANNELS];
 Vector acc;
 Vector rates;