mirror of
https://github.com/PX4/PX4-Autopilot.git
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089c962d92
Using mixers on the IO side had a remote benefit of being able to override all control surfaces with a radio remote on a fixed wing. This ended up not being used that much and since the original design 10 years ago (2011) we have been able to convince ourselves that the overall system stability is at a level where this marginal benefit, which is not present on multicopters, is not worth the hazzle. Co-authored-by: Beat Küng <beat-kueng@gmx.net> Co-authored-by: Daniel Agar <daniel@agar.ca>
38 lines
2.2 KiB
Plaintext
38 lines
2.2 KiB
Plaintext
uint64 timestamp # time since system start (microseconds)
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uint8 RC_INPUT_SOURCE_UNKNOWN = 0
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uint8 RC_INPUT_SOURCE_PX4FMU_PPM = 1
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uint8 RC_INPUT_SOURCE_PX4IO_PPM = 2
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uint8 RC_INPUT_SOURCE_PX4IO_SPEKTRUM = 3
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uint8 RC_INPUT_SOURCE_PX4IO_SBUS = 4
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uint8 RC_INPUT_SOURCE_PX4IO_ST24 = 5
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uint8 RC_INPUT_SOURCE_MAVLINK = 6
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uint8 RC_INPUT_SOURCE_QURT = 7
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uint8 RC_INPUT_SOURCE_PX4FMU_SPEKTRUM = 8
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uint8 RC_INPUT_SOURCE_PX4FMU_SBUS = 9
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uint8 RC_INPUT_SOURCE_PX4FMU_ST24 = 10
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uint8 RC_INPUT_SOURCE_PX4FMU_SUMD = 11
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uint8 RC_INPUT_SOURCE_PX4FMU_DSM = 12
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uint8 RC_INPUT_SOURCE_PX4IO_SUMD = 13
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uint8 RC_INPUT_SOURCE_PX4FMU_CRSF = 14
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uint8 RC_INPUT_SOURCE_PX4FMU_GHST = 15
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uint8 RC_INPUT_MAX_CHANNELS = 18 # Maximum number of R/C input channels in the system. S.Bus has up to 18 channels.
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uint64 timestamp_last_signal # last valid reception time
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uint8 channel_count # number of channels actually being seen
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int8 RSSI_MAX = 100
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int32 rssi # receive signal strength indicator (RSSI): < 0: Undefined, 0: no signal, 100: full reception
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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.
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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.
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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 funtionality.
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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 funtionality.
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uint16 rc_ppm_frame_length # Length of a single PPM frame. Zero for non-PPM systems
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uint8 input_source # Input source
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uint16[18] values # measured pulse widths for each of the supported channels
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