forked from Archive/PX4-Autopilot
36 lines
2.1 KiB
Plaintext
36 lines
2.1 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_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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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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