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All of the model aircraft I have seen without flight controllers normally have a receiver with all of the channels separate. Is there any way I can use a receiver like an XM+ receiver on a model aircraft without a flight controller?

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Yes, you most certainly can. The device you will need is called an SBus Decoder, which splits the SBus serial signal from your FrSky XM+ into several different PWM channels.

Example of an 8-channel SBus decoder

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