Here is library to read the signals from a typical RC receiver that you find in RC vehicles. These signals are the same as the signals which are output by the Servo library which are used to control servo motors. As such the ServoIn library is meant to be similar in interface, except it receives input, rather than providing output. It supports up to 6 channels.
What I am using this library for, and why I wrote it, is that I am dabbling with autonomous/RC vehicles. However, I want to be able to control the vehicle with my RC transmitter, and switch it back and forth between manual control and autonomous mode from my hand-held transmitter, for safety.
So if anyone is interested, feel free to look it up in Particle’s Libraries or visit the github page. https://github.com/rvnash/ServoIn