--- pageClass: is-wide-page --- # InputRc (Повідомлення UORB) **TOPICS:** input_rc ## Fields | Назва | Тип | Unit [Frame] | Range/Enum | Опис | | ----------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | timestamp | `uint64` | | | time since system start (microseconds) | | timestamp_last_signal | `uint64` | | | last valid reception time | | channel_count | `uint8` | | | number of channels actually being seen | | rssi | `int32` | | | receive signal strength indicator (RSSI): < 0: Undefined, 0: no signal, 100: full reception | | rc_failsafe | `bool` | | | explicit failsafe flag: true on TX failure or TX out of range , false otherwise. Only the true state is reliable, as there are some (PPM) receivers on the market going into failsafe without telling us explicitly. | | rc_lost | `bool` | | | RC receiver connection status: True,if no frame has arrived in the expected time, false otherwise. True usually means that the receiver has been disconnected, but can also indicate a radio link loss on "stupid" systems. Will remain false, if a RX with failsafe option continues to transmit frames after a link loss. | | rc_lost_frame_count | `uint16` | | | Number of lost RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike functionality. | | rc_total_frame_count | `uint16` | | | Number of total RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike functionality. | | rc_ppm_frame_length | `uint16` | | | Length of a single PPM frame. Zero for non-PPM systems | | rc_frame_rate | `uint16` | | | RC frame rate in msg/second. 0 = invalid | | input_source | `uint8` | | | Input source | | values | `uint16[18]` | | | measured pulse widths for each of the supported channels | | link_quality | `int8` | | | link quality. Percentage 0-100%. -1 = invalid | | rssi_dbm | `float32` | | | Actual rssi in units of dBm. NaN = invalid | | link_snr | `int8` | | | link signal to noise ratio in units of dB. -1 = invalid | ## Constants | Назва | Тип | Значення | Опис | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | -------------------------------------------------------------------------------------------------------------------------------- | | RC_INPUT_SOURCE_UNKNOWN | `uint8` | 0 | | | RC_INPUT_SOURCE_PX4FMU_PPM | `uint8` | 1 | | | RC_INPUT_SOURCE_PX4IO_PPM | `uint8` | 2 | | | RC_INPUT_SOURCE_PX4IO_SPEKTRUM | `uint8` | 3 | | | RC_INPUT_SOURCE_PX4IO_SBUS | `uint8` | 4 | | | RC_INPUT_SOURCE_PX4IO_ST24 | `uint8` | 5 | | | RC_INPUT_SOURCE_MAVLINK | `uint8` | 6 | | | RC_INPUT_SOURCE_QURT | `uint8` | 7 | | | RC_INPUT_SOURCE_PX4FMU_SPEKTRUM | `uint8` | 8 | | | RC_INPUT_SOURCE_PX4FMU_SBUS | `uint8` | 9 | | | RC_INPUT_SOURCE_PX4FMU_ST24 | `uint8` | 10 | | | RC_INPUT_SOURCE_PX4FMU_SUMD | `uint8` | 11 | | | RC_INPUT_SOURCE_PX4FMU_DSM | `uint8` | 12 | | | RC_INPUT_SOURCE_PX4IO_SUMD | `uint8` | 13 | | | RC_INPUT_SOURCE_PX4FMU_CRSF | `uint8` | 14 | | | RC_INPUT_SOURCE_PX4FMU_GHST | `uint8` | 15 | | | RC_INPUT_MAX_CHANNELS | `uint8` | 18 | Maximum number of R/C input channels in the system. S.Bus has up to 18 channels. | | RSSI_MAX | `int8` | 100 | | ## Source Message [Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/InputRc.msg) :::details Click here to see original file ```c uint64 timestamp # time since system start (microseconds) uint8 RC_INPUT_SOURCE_UNKNOWN = 0 uint8 RC_INPUT_SOURCE_PX4FMU_PPM = 1 uint8 RC_INPUT_SOURCE_PX4IO_PPM = 2 uint8 RC_INPUT_SOURCE_PX4IO_SPEKTRUM = 3 uint8 RC_INPUT_SOURCE_PX4IO_SBUS = 4 uint8 RC_INPUT_SOURCE_PX4IO_ST24 = 5 uint8 RC_INPUT_SOURCE_MAVLINK = 6 uint8 RC_INPUT_SOURCE_QURT = 7 uint8 RC_INPUT_SOURCE_PX4FMU_SPEKTRUM = 8 uint8 RC_INPUT_SOURCE_PX4FMU_SBUS = 9 uint8 RC_INPUT_SOURCE_PX4FMU_ST24 = 10 uint8 RC_INPUT_SOURCE_PX4FMU_SUMD = 11 uint8 RC_INPUT_SOURCE_PX4FMU_DSM = 12 uint8 RC_INPUT_SOURCE_PX4IO_SUMD = 13 uint8 RC_INPUT_SOURCE_PX4FMU_CRSF = 14 uint8 RC_INPUT_SOURCE_PX4FMU_GHST = 15 uint8 RC_INPUT_MAX_CHANNELS = 18 # Maximum number of R/C input channels in the system. S.Bus has up to 18 channels. uint64 timestamp_last_signal # last valid reception time uint8 channel_count # number of channels actually being seen int8 RSSI_MAX = 100 int32 rssi # receive signal strength indicator (RSSI): < 0: Undefined, 0: no signal, 100: full reception bool rc_failsafe # explicit failsafe flag: true on TX failure or TX out of range , false otherwise. Only the true state is reliable, as there are some (PPM) receivers on the market going into failsafe without telling us explicitly. bool rc_lost # RC receiver connection status: True,if no frame has arrived in the expected time, false otherwise. True usually means that the receiver has been disconnected, but can also indicate a radio link loss on "stupid" systems. Will remain false, if a RX with failsafe option continues to transmit frames after a link loss. uint16 rc_lost_frame_count # Number of lost RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike functionality. uint16 rc_total_frame_count # Number of total RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike functionality. uint16 rc_ppm_frame_length # Length of a single PPM frame. Zero for non-PPM systems uint16 rc_frame_rate # RC frame rate in msg/second. 0 = invalid uint8 input_source # Input source uint16[18] values # measured pulse widths for each of the supported channels int8 link_quality # link quality. Percentage 0-100%. -1 = invalid float32 rssi_dbm # Actual rssi in units of dBm. NaN = invalid int8 link_snr # link signal to noise ratio in units of dB. -1 = invalid ``` :::