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docs/en/msg_docs/InputRc.md
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---
pageClass: is-wide-page
---
# InputRc (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/InputRc.msg)
**TOPICS:** input_rc
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| --------------------- | ------------ | ------------ | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| 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
| Name | Type | Value | Description |
| ------------------------------------------------------------------------------- | ------- | ----- | -------------------------------------------------------------------------------- |
| <a href="#RC_INPUT_SOURCE_UNKNOWN"></a> RC_INPUT_SOURCE_UNKNOWN | `uint8` | 0 |
| <a href="#RC_INPUT_SOURCE_PX4FMU_PPM"></a> RC_INPUT_SOURCE_PX4FMU_PPM | `uint8` | 1 |
| <a href="#RC_INPUT_SOURCE_PX4IO_PPM"></a> RC_INPUT_SOURCE_PX4IO_PPM | `uint8` | 2 |
| <a href="#RC_INPUT_SOURCE_PX4IO_SPEKTRUM"></a> RC_INPUT_SOURCE_PX4IO_SPEKTRUM | `uint8` | 3 |
| <a href="#RC_INPUT_SOURCE_PX4IO_SBUS"></a> RC_INPUT_SOURCE_PX4IO_SBUS | `uint8` | 4 |
| <a href="#RC_INPUT_SOURCE_PX4IO_ST24"></a> RC_INPUT_SOURCE_PX4IO_ST24 | `uint8` | 5 |
| <a href="#RC_INPUT_SOURCE_MAVLINK"></a> RC_INPUT_SOURCE_MAVLINK | `uint8` | 6 |
| <a href="#RC_INPUT_SOURCE_QURT"></a> RC_INPUT_SOURCE_QURT | `uint8` | 7 |
| <a href="#RC_INPUT_SOURCE_PX4FMU_SPEKTRUM"></a> RC_INPUT_SOURCE_PX4FMU_SPEKTRUM | `uint8` | 8 |
| <a href="#RC_INPUT_SOURCE_PX4FMU_SBUS"></a> RC_INPUT_SOURCE_PX4FMU_SBUS | `uint8` | 9 |
| <a href="#RC_INPUT_SOURCE_PX4FMU_ST24"></a> RC_INPUT_SOURCE_PX4FMU_ST24 | `uint8` | 10 |
| <a href="#RC_INPUT_SOURCE_PX4FMU_SUMD"></a> RC_INPUT_SOURCE_PX4FMU_SUMD | `uint8` | 11 |
| <a href="#RC_INPUT_SOURCE_PX4FMU_DSM"></a> RC_INPUT_SOURCE_PX4FMU_DSM | `uint8` | 12 |
| <a href="#RC_INPUT_SOURCE_PX4IO_SUMD"></a> RC_INPUT_SOURCE_PX4IO_SUMD | `uint8` | 13 |
| <a href="#RC_INPUT_SOURCE_PX4FMU_CRSF"></a> RC_INPUT_SOURCE_PX4FMU_CRSF | `uint8` | 14 |
| <a href="#RC_INPUT_SOURCE_PX4FMU_GHST"></a> RC_INPUT_SOURCE_PX4FMU_GHST | `uint8` | 15 |
| <a href="#RC_INPUT_MAX_CHANNELS"></a> RC_INPUT_MAX_CHANNELS | `uint8` | 18 | Maximum number of R/C input channels in the system. S.Bus has up to 18 channels. |
| <a href="#RSSI_MAX"></a> RSSI_MAX | `int8` | 100 |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/InputRc.msg)
::: details Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -45,5 +98,6 @@ 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
```
:::