File content as of revision 1:16b2e229b739:

#include "mbed.h"
#include "TextLCD.h"
 
#define chan    6         // the numbers of channels

Serial pc(USBTX, USBRX);
DigitalOut led1(LED1);
DigitalOut led2(LED2);
DigitalOut led3(LED3);
DigitalOut led4(LED4);

Serial xbee(p9,p10);       // tx, rx

InterruptIn ch1(p13);       // yaw
InterruptIn ch2(p14);       // pitch
InterruptIn ch3(p15);       // throttle
InterruptIn ch4(p16);       // roll
//InterruptIn ch5(p17);       // aux1
//InterruptIn ch6(p18);       // aux2
/*
InterruptIn ch1(p5);       // yaw
InterruptIn ch2(p6);       // pitch
InterruptIn ch3(p7);       // throttle
InterruptIn ch4(p8);       // roll
InterruptIn ch5(p9);       // aux1
InterruptIn ch6(p10);       // aux2
TextLCD lcd(p24, p26, p27, p28, p29, p30);
*/
void thro_up();     void roll_up();     void pitch_up();    void yaw_up();      void aux1_up();      void aux2_up();
void thro_down();   void roll_down();   void pitch_down();  void yaw_down();    void aux1_down();    void aux2_down();

Timer t_thro;       Timer t_roll;       Timer t_pitch;      Timer t_yaw;      Timer t_aux1;      Timer t_aux2;

// thro roll pitch yaw aux1 aux2
int pwm_pulse[chan]      =   {0, 0, 0, 0, 0, 0};

int main() {
    
    pc.baud(921600);
    xbee.baud(115200);
    
    //lcd.locate(0, 0);   lcd.printf("StarBoard Orange");
    //lcd.locate(0, 1);   lcd.printf("mbed NXP LPC1768");
    //wait(1);            lcd.cls();
    
    //xbee.printf("\n\r\n\rRC reciever\n\r");
    
    // Reciever function
    ch1.rise(&yaw_up);      ch1.fall(&yaw_down);
    ch2.rise(&pitch_up);    ch2.fall(&pitch_down);
    ch3.rise(&thro_up);     ch3.fall(&thro_down);
    ch4.rise(&roll_up);     ch4.fall(&roll_down);
    //ch5.rise(&aux1_up);     ch5.fall(&aux1_down);
    //ch6.rise(&aux2_up);     ch6.fall(&aux2_down);
    
    while(1) {
        
        for( int i=0;i<4;i++ ){    xbee.printf("%d ", pwm_pulse[i]);  }
        xbee.printf("\r\n\r\n");
        
        //for( int i=0;i<4;i++ ){    pc.printf("%d ", pwm_pulse[i]);  }
        //pc.printf("\r\n\r\n");
        
        //lcd.locate(0, 0);
        //lcd.printf("%4d %4d %4d",pwm_pulse[0], pwm_pulse[1], pwm_pulse[2]);
        //lcd.locate(0, 1);
        //lcd.printf("%4d %4d %4d",pwm_pulse[3], pwm_pulse[4], pwm_pulse[5]);
        //lcd.cls();
        
        wait(.1);
                       
    }
}

void thro_up(){     t_thro.start();   }
void roll_up(){     t_roll.start();   }
void pitch_up(){    t_pitch.start();  }
void yaw_up(){      t_yaw.start();    }
//void aux1_up(){     t_aux1.start();   }
//void aux2_up(){     t_aux2.start();   }

void thro_down(){
    t_thro.stop();
    pwm_pulse[0]    =   (int)(t_thro.read()*1000000-1000);
    t_thro.reset();
}

void roll_down(){
    t_roll.stop();
    pwm_pulse[1]    =   (int)(t_roll.read()*1000000-1000);
    t_roll.reset();
}

void pitch_down(){
    t_pitch.stop();
    pwm_pulse[2]    =   (int)(t_pitch.read()*1000000-1000);
    t_pitch.reset();
}

void yaw_down(){
    t_yaw.stop();
    pwm_pulse[3]    =   (int)(t_yaw.read()*1000000-1000);
    t_yaw.reset();
}
/*
void aux1_down(){
    t_aux1.stop();
    pwm_pulse[4]    =   (int)(t_aux1.read()*1000000-1000);
    t_aux1.reset();
}

void aux2_down(){
    t_aux2.stop();
    pwm_pulse[5]    =   (int)(t_aux2.read()*1000000-1000);
    t_aux2.reset();
}
*/