InputRc (UORB message)
TOPICS: input_rc
Fields
| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
|---|---|---|---|---|
| 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
Source Message
Details
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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