read_receiver.ino

#include <Servo.h>

// Assign your channel in pins
#define THROTTLE_IN_PIN 8

volatile uint16_t unThrottleInShared;

uint32_t ulThrottleStart;

void setup()
{
  Serial.begin(112500);
  pinMode(THROTTLE_IN_PIN, INPUT);
  attachInterrupt(THROTTLE_IN_PIN, calcThrottle,CHANGE); 
}

void loop()
{
  static uint16_t unThrottleIn = 0;
  static uint16_t oldThrottle = 1;
  noInterrupts();
  unThrottleIn = unThrottleInShared;
  interrupts();
  if (oldThrottle != unThrottleIn) {
    Serial.println(unThrottleIn);
  }
  oldThrottle = unThrottleIn;
}

void calcThrottle()
{
  if(digitalRead(THROTTLE_IN_PIN) == HIGH)
  { 
    ulThrottleStart = micros();
  }
  else
  {
    unThrottleInShared = (uint16_t)(micros() - ulThrottleStart);
  }
}