This library allows your arduino to read Futaba SBUS messages, and decode the servo positions & flags in it.
I used the following sources of info to write it:
To connect this to your Arduino, you'll need an inverter cable such as http://www.hobbyking.com/hobbyking/store/__24523__ZYX_S_S_BUS_Connection_Cable.html, or you can build your own using a TTL inverter or the schematic in the included SBUS_inverter.jpeg file.
$ cd <arduino-sketchbook>/libraries
$ git clone https://github.com/zendes/SBUS.git
Then restart your Arduino IDE and take a look at the examples.