I am currently writing my own code for a autopilot for a cyclocopter, and I am wondering how should I go about reading RC input from a RC controller? 

Currently I have my autopilot react to a change in roll, and I am looking to provide a desired roll angle via a RC controller and have my autopilot move to that position. 

Does anyone have an example of how to read or receive RC inputs and then use that information?

Is there an already made module that takes care of that or is it something that I would need to create?

Thank you for the help!

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