I'm trying to make a very basic object avoidance program using a bunch of IR sensors, I can read the distances no problem and I don't need the code to actually create an action from the data. I would like to add a value to the raw inputs from the receiver to control direction so I can preserve all the existing flight modes. What I can't seem to find in the source code is where the raw data from the radio controller receiver is actually read. If anyone can point me in the right direction I would greatly appreciate it.

APM 2.5 quadcopter

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anybody?

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