PX4-Autopilot/docs/en/msg_docs/InputRc.md

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InputRc (UORB message)

TOPICS: input_rc

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
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

Name	Type	Value	Description
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)

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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

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