void rx_auv_command(void) {
    uint8_t rx_buffer[23];
    uint32_t status = HAL_UART_Receive(&huart6, rx_buffer, 22, 200);
    if (status == HAL_TIMEOUT) {
        return;
    }

    if (status != HAL_OK) {
        return;
    }

    if (rx_buffer[0] != 0xAE && rx_buffer[22] != 0xEA) {
        return;
    }

    thrusters_pwm[0] = (int8_t)rx_buffer[1];
    thrusters_pwm[1] = (int8_t)rx_buffer[2];
    thrusters_pwm[2] = (int8_t)rx_buffer[3];
    thrusters_pwm[3] = (int8_t)rx_buffer[4];
    thrusters_pwm[4] = (int8_t)rx_buffer[5];
    thrusters_pwm[5] = (int8_t)rx_buffer[6];
    thrusters_pwm[6] = (int8_t)rx_buffer[7];

    drop_pwm[0] = (int8_t)rx_buffer[8];
    drop_pwm[1] = (int8_t)rx_buffer[9];
    drop_pwm[2] = (int8_t)rx_buffer[10];

    drop[0] = (int8_t)rx_buffer[11];
    drop[1] = (int8_t)rx_buffer[12];
    drop[2] = (int8_t)rx_buffer[13];

    set_A_drop(rx_buffer[14]);
    set_B_drop(rx_buffer[15]);
    set_C_drop(rx_buffer[16]);

    if (r_val != rx_buffer[17] ||
        g_val != rx_buffer[18] ||
        b_val != rx_buffer[19] ||
        user_color_val != rx_buffer[20]) {
        r_val = rx_buffer[17];
        g_val = rx_buffer[18];
        b_val = rx_buffer[19];
        user_color_val = rx_buffer[20];
        can_bus_set_led_color(r_val, g_val, b_val, user_color_val);
    }
    servo_angle = rx_buffer[21];
}