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I am working on a project to build a quadrotor using RPi Zero W as flight controller. It has 2 main parts.

1) Recieving RC signal (FS-R6B AFHDS 2.4GHz)

2) Feeding that signal to 4 ESCs(12A Emax BLHeli) then to Brushless motors(2300kv ReadytoSky)

I am unable to understand how can I recieve the RC signal to RPi GPIO pins?

Or can I perform the same task using WiFi?

Any help is greatly appreciated!