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# Px4ioStatus (UORB message)

**TOPICS:** px4io_status

## Fields

| Name                        | Type         | Unit [Frame] | Range/Enum | Description                                              |
| --------------------------- | ------------ | ------------ | ---------- | -------------------------------------------------------- |
| timestamp                   | `uint64`     |              |            | time since system start (microseconds)                   |
| free_memory_bytes           | `uint16`     |              |            |
| voltage_v                   | `float32`    |              |            | Servo rail voltage in volts                              |
| rssi_v                      | `float32`    |              |            | RSSI pin voltage in volts                                |
| status_arm_sync             | `bool`       |              |            |
| status_failsafe             | `bool`       |              |            |
| status_fmu_initialized      | `bool`       |              |            |
| status_fmu_ok               | `bool`       |              |            |
| status_init_ok              | `bool`       |              |            |
| status_outputs_armed        | `bool`       |              |            |
| status_raw_pwm              | `bool`       |              |            |
| status_rc_ok                | `bool`       |              |            |
| status_rc_dsm               | `bool`       |              |            |
| status_rc_ppm               | `bool`       |              |            |
| status_rc_sbus              | `bool`       |              |            |
| status_rc_st24              | `bool`       |              |            |
| status_rc_sumd              | `bool`       |              |            |
| status_safety_button_event  | `bool`       |              |            | px4io safety button was pressed for longer than 1 second |
| alarm_pwm_error             | `bool`       |              |            |
| alarm_rc_lost               | `bool`       |              |            |
| arming_failsafe_custom      | `bool`       |              |            |
| arming_fmu_armed            | `bool`       |              |            |
| arming_fmu_prearmed         | `bool`       |              |            |
| arming_termination          | `bool`       |              |            |
| arming_io_arm_ok            | `bool`       |              |            |
| arming_lockdown             | `bool`       |              |            |
| arming_termination_failsafe | `bool`       |              |            |
| pwm                         | `uint16[8]`  |              |            |
| pwm_disarmed                | `uint16[8]`  |              |            |
| pwm_failsafe                | `uint16[8]`  |              |            |
| pwm_rate_hz                 | `uint16[8]`  |              |            |
| raw_inputs                  | `uint16[18]` |              |            |

## Source Message

[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Px4ioStatus.msg)

::: details Click here to see original file

```c
uint64 timestamp		# time since system start (microseconds)

uint16 free_memory_bytes

float32 voltage_v		# Servo rail voltage in volts
float32 rssi_v			# RSSI pin voltage in volts

# PX4IO status flags (PX4IO_P_STATUS_FLAGS)
bool status_arm_sync
bool status_failsafe
bool status_fmu_initialized
bool status_fmu_ok
bool status_init_ok
bool status_outputs_armed
bool status_raw_pwm
bool status_rc_ok
bool status_rc_dsm
bool status_rc_ppm
bool status_rc_sbus
bool status_rc_st24
bool status_rc_sumd
bool status_safety_button_event # px4io safety button was pressed for longer than 1 second

# PX4IO alarms (PX4IO_P_STATUS_ALARMS)
bool alarm_pwm_error
bool alarm_rc_lost

# PX4IO arming (PX4IO_P_SETUP_ARMING)
bool arming_failsafe_custom
bool arming_fmu_armed
bool arming_fmu_prearmed
bool arming_termination
bool arming_io_arm_ok
bool arming_lockdown
bool arming_termination_failsafe

uint16[8] pwm
uint16[8] pwm_disarmed
uint16[8] pwm_failsafe

uint16[8] pwm_rate_hz

uint16[18] raw_inputs
```

:::
