I had to develop a mixer for a RC glider, to solve some problems of the flight controller I use on my plane. I used a cheap board (FLIP32) that use a STM32F103 uC, and allows for easy connections and developing as it has access to the SWD pins an a USB-Serial converter built in. It also has and accelerometer and a gyroscope, that is not used in this application. The reference is at RCGroups.
As I also implemented an SBUS input (you need to insert an invertion mechanism outside the board, as this board has not inverter built in), you can play with PWM input, SBUS input and PWM output. To save data, I implemented a mechanism to flash the data, but avoiding erasing the memory every time you save a value (it has no eeprom).
Flip32 mixer for radiocontrol
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