Did you use interrupt-capable pins to read the pwm channels? You can comment out the failsafe() function in the void loop to see what, if any, values are coming through to the pins
so I connected ch5 of the receiver to ch5 and ch6 on the flight controller and uncommented the failsafe function so it can detect a failsafe normally. As expected all the channel were displaying the output values of the receiver and not the failsafe values, and ch5 and ch6 had the same values.(because I connected them together)
the values seems to jump around a bit
the output frequency of my receiver is variable. do you thing that would change something, like make a bit stable?
other issues is that the servos move further when the IMU is moved than when there is a stick input (here I have : s2_command_scaled = 0.5 - roll_PID; ) , i assigned thro_des to another servo and that one has full range. ( s1_command_scaled = thro_des ; )
does it have anything to do with the stabilized axis variables?
I'm going to put this flight controller on the ft simple scout for a test, it's a 4 channel, plane