Pass PWM value of flight mode to output

Hardware Pixhawk family
1

I have a Pixhawk Cube (the black one), and an ESP board. I would like to pass the PWM value that controls the flight mode to the ESP board, so that I could do some operations on it. How do I do it in the MissionPlanner? Is that what RCPassThru is for?

2

Yes you should use rc passtru to get rc in ch 5 into rc our Ch 9 For example