RcChannels (UORB message)

TOPICS: rc_channels

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64			time since system start (microseconds)
timestamp_last_valid	uint64			Timestamp of last valid RC signal
channels	float32[18]			Scaled to -1..1 (throttle: 0..1)
channel_count	uint8			Number of valid channels
function	int8[30]			Functions mapping
rssi	uint8			Receive signal strength index
signal_lost	bool			Control signal lost, should be checked together with topic timeout
frame_drop_count	uint32			Number of dropped frames

Constants

Name	Type	Value	Description
FUNCTION_THROTTLE	uint8	0
FUNCTION_ROLL	uint8	1
FUNCTION_PITCH	uint8	2
FUNCTION_YAW	uint8	3
FUNCTION_RETURN	uint8	4
FUNCTION_LOITER	uint8	5
FUNCTION_OFFBOARD	uint8	6
FUNCTION_FLAPS	uint8	7
FUNCTION_AUX_1	uint8	8
FUNCTION_AUX_2	uint8	9
FUNCTION_AUX_3	uint8	10
FUNCTION_AUX_4	uint8	11
FUNCTION_AUX_5	uint8	12
FUNCTION_AUX_6	uint8	13
FUNCTION_PARAM_1	uint8	14
FUNCTION_PARAM_2	uint8	15
FUNCTION_PARAM_3_5	uint8	16
FUNCTION_KILLSWITCH	uint8	17
FUNCTION_TRANSITION	uint8	18
FUNCTION_GEAR	uint8	19
FUNCTION_ARMSWITCH	uint8	20
FUNCTION_FLTBTN_SLOT_1	uint8	21
FUNCTION_FLTBTN_SLOT_2	uint8	22
FUNCTION_FLTBTN_SLOT_3	uint8	23
FUNCTION_FLTBTN_SLOT_4	uint8	24
FUNCTION_FLTBTN_SLOT_5	uint8	25
FUNCTION_FLTBTN_SLOT_6	uint8	26
FUNCTION_ENGAGE_MAIN_MOTOR	uint8	27
FUNCTION_PAYLOAD_POWER	uint8	28
FUNCTION_TERMINATION	uint8	29
FUNCTION_FLTBTN_SLOT_COUNT	uint8	6

Source Message

Source file (GitHub)

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uint64 timestamp						# time since system start (microseconds)

uint8 FUNCTION_THROTTLE      = 0
uint8 FUNCTION_ROLL          = 1
uint8 FUNCTION_PITCH         = 2
uint8 FUNCTION_YAW           = 3
uint8 FUNCTION_RETURN        = 4
uint8 FUNCTION_LOITER        = 5
uint8 FUNCTION_OFFBOARD      = 6
uint8 FUNCTION_FLAPS         = 7
uint8 FUNCTION_AUX_1         = 8
uint8 FUNCTION_AUX_2         = 9
uint8 FUNCTION_AUX_3         = 10
uint8 FUNCTION_AUX_4         = 11
uint8 FUNCTION_AUX_5         = 12
uint8 FUNCTION_AUX_6         = 13
uint8 FUNCTION_PARAM_1       = 14
uint8 FUNCTION_PARAM_2       = 15
uint8 FUNCTION_PARAM_3_5     = 16
uint8 FUNCTION_KILLSWITCH    = 17
uint8 FUNCTION_TRANSITION    = 18
uint8 FUNCTION_GEAR          = 19
uint8 FUNCTION_ARMSWITCH     = 20
uint8 FUNCTION_FLTBTN_SLOT_1 = 21
uint8 FUNCTION_FLTBTN_SLOT_2 = 22
uint8 FUNCTION_FLTBTN_SLOT_3 = 23
uint8 FUNCTION_FLTBTN_SLOT_4 = 24
uint8 FUNCTION_FLTBTN_SLOT_5 = 25
uint8 FUNCTION_FLTBTN_SLOT_6 = 26
uint8 FUNCTION_ENGAGE_MAIN_MOTOR = 27
uint8 FUNCTION_PAYLOAD_POWER = 28
uint8 FUNCTION_TERMINATION = 29

uint8 FUNCTION_FLTBTN_SLOT_COUNT = 6

uint64 timestamp_last_valid					# Timestamp of last valid RC signal
float32[18] channels						# Scaled to -1..1 (throttle: 0..1)
uint8 channel_count						# Number of valid channels
int8[30] function						# Functions mapping
uint8 rssi							# Receive signal strength index
bool signal_lost						# Control signal lost, should be checked together with topic timeout
uint32 frame_drop_count						# Number of dropped frames