From b24ccc27c9f809f8551854d1a70b0cba0ffddec7 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Wed, 30 Mar 2022 13:27:41 -0400
Subject: [PATCH] px4io: add RC update monotonic count and cleanup unused

---
 .../crazyflie/syslink/syslink_main.cpp        |  12 +-
 .../extras/cubepilot_io-v2_default.bin        | Bin 39456 -> 39348 bytes
 .../extras/cubepilot_io-v2_default.bin        | Bin 39456 -> 39348 bytes
 .../navio_sysfs_rc_in/NavioSysRCInput.cpp     |   6 +-
 .../durandal-v1/extras/px4_io-v2_default.bin  | Bin 39456 -> 39348 bytes
 .../pix32v5/extras/px4_io-v2_default.bin      | Bin 39456 -> 39348 bytes
 .../mro/x21-777/extras/px4_io-v2_default.bin  | Bin 39456 -> 39348 bytes
 .../px4/fmu-v2/extras/px4_io-v2_default.bin   | Bin 39456 -> 39348 bytes
 .../px4/fmu-v3/extras/px4_io-v2_default.bin   | Bin 39456 -> 39348 bytes
 .../fmu-v4pro/extras/px4_io-v2_default.bin    | Bin 39456 -> 39348 bytes
 .../px4/fmu-v5/extras/px4_io-v2_default.bin   | Bin 39456 -> 39348 bytes
 .../px4/fmu-v5x/extras/px4_io-v2_default.bin  | Bin 39456 -> 39348 bytes
 .../px4/fmu-v6x/extras/px4_io-v2_default.bin  | Bin 39456 -> 39348 bytes
 msg/input_rc.msg                              |   9 +-
 msg/px4io_status.msg                          |   9 -
 src/drivers/px4io/px4io.cpp                   |  84 +++---
 src/drivers/rc_input/RCInput.cpp              |  22 +-
 src/drivers/rpi_rc_in/rpi_rc_in.cpp           |   7 +-
 .../snapdragon_spektrum_rc/spektrum_rc.cpp    |   5 +-
 src/modules/mavlink/mavlink_receiver.cpp      |   7 +-
 src/modules/px4iofirmware/controls.c          | 243 ++++++------------
 src/modules/px4iofirmware/protocol.h          |  47 ++--
 src/modules/px4iofirmware/registers.c         |   3 +-
 src/modules/rc_update/rc_update.cpp           |  30 +--
 src/modules/rc_update/rc_update.h             |   2 +-
 src/modules/simulator/simulator_mavlink.cpp   |   2 +-
 src/systemcmds/tests/test_rc.cpp              |   2 +-
 27 files changed, 167 insertions(+), 323 deletions(-)

diff --git a/boards/bitcraze/crazyflie/syslink/syslink_main.cpp b/boards/bitcraze/crazyflie/syslink/syslink_main.cpp
index d2faf8d2d9..00dc1e145b 100644
--- a/boards/bitcraze/crazyflie/syslink/syslink_main.cpp
+++ b/boards/bitcraze/crazyflie/syslink/syslink_main.cpp
@@ -525,16 +525,9 @@ Syslink::handle_raw(syslink_message_t *sys)
 
 		crtp_commander *cmd = (crtp_commander *) &c->data[0];
 
-		input_rc_s rc = {};
-
-		rc.timestamp = hrt_absolute_time();
-		rc.timestamp_last_signal = rc.timestamp;
+		input_rc_s rc{};
+		rc.timestamp_sample = hrt_absolute_time();
 		rc.channel_count = 5;
-		rc.rc_failsafe = false;
-		rc.rc_lost = false;
-		rc.rc_lost_frame_count = 0;
-		rc.rc_total_frame_count = 1;
-		rc.rc_ppm_frame_length = 0;
 		rc.input_source = input_rc_s::RC_INPUT_SOURCE_MAVLINK;
 		rc.rssi = _rssi;
 
@@ -548,6 +541,7 @@ Syslink::handle_raw(syslink_message_t *sys)
 		rc.values[3] = cmd->thrust * 1000 / USHRT_MAX + 1000;
 		rc.values[4] = 1000; // Dummy channel as px4 needs at least 5
 
+		rc.timestamp = hrt_absolute_time();
 		_rc_pub.publish(rc);
 
 	} else if (c->port == CRTP_PORT_MAVLINK) {
diff --git a/boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin b/boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin
index 0179a993e62b05e6a1b9749cd20c99b5318d1afa..c12e9682d1e6b9a4151436da12a3250f11e7a99f 100755
GIT binary patch
delta 10003
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index 0179a993e62b05e6a1b9749cd20c99b5318d1afa..c12e9682d1e6b9a4151436da12a3250f11e7a99f 100755
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diff --git a/boards/emlid/navio2/navio_sysfs_rc_in/NavioSysRCInput.cpp b/boards/emlid/navio2/navio_sysfs_rc_in/NavioSysRCInput.cpp
index be17b084b3..3f0ddfb332 100644
--- a/boards/emlid/navio2/navio_sysfs_rc_in/NavioSysRCInput.cpp
+++ b/boards/emlid/navio2/navio_sysfs_rc_in/NavioSysRCInput.cpp
@@ -119,8 +119,6 @@ void NavioSysRCInput::Run()
 	connected_buf[sizeof(connected_buf) - 1] = '\0';
 	_connected = (atoi(connected_buf) == 1);
 
-	data.rc_lost = !_connected;
-
 	uint64_t timestamp_sample = hrt_absolute_time();
 
 	for (int i = 0; i < CHANNELS; ++i) {
@@ -145,11 +143,11 @@ void NavioSysRCInput::Run()
 		}
 	}
 
-	if (all_zero) {
+	if (all_zero || !_connected) {
 		return;
 	}
 
-	data.timestamp_last_signal = timestamp_sample;
+	data.timestamp_sample = timestamp_sample;
 	data.channel_count = CHANNELS;
 	data.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_PPM;
 	data.timestamp = hrt_absolute_time();
diff --git a/boards/holybro/durandal-v1/extras/px4_io-v2_default.bin b/boards/holybro/durandal-v1/extras/px4_io-v2_default.bin
index cef251c5f50280243052c56143c4d947afe41965..3db45ccdadf8d5e7395ba1aaf08590efeabc9e42 100755
GIT binary patch
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index cef251c5f50280243052c56143c4d947afe41965..3db45ccdadf8d5e7395ba1aaf08590efeabc9e42 100755
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diff --git a/boards/mro/x21-777/extras/px4_io-v2_default.bin b/boards/mro/x21-777/extras/px4_io-v2_default.bin
index cef251c5f50280243052c56143c4d947afe41965..3db45ccdadf8d5e7395ba1aaf08590efeabc9e42 100755
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diff --git a/boards/px4/fmu-v3/extras/px4_io-v2_default.bin b/boards/px4/fmu-v3/extras/px4_io-v2_default.bin
index cef251c5f50280243052c56143c4d947afe41965..3db45ccdadf8d5e7395ba1aaf08590efeabc9e42 100755
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diff --git a/boards/px4/fmu-v4pro/extras/px4_io-v2_default.bin b/boards/px4/fmu-v4pro/extras/px4_io-v2_default.bin
index cef251c5f50280243052c56143c4d947afe41965..3db45ccdadf8d5e7395ba1aaf08590efeabc9e42 100755
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diff --git a/boards/px4/fmu-v5x/extras/px4_io-v2_default.bin b/boards/px4/fmu-v5x/extras/px4_io-v2_default.bin
index cef251c5f50280243052c56143c4d947afe41965..3db45ccdadf8d5e7395ba1aaf08590efeabc9e42 100755
GIT binary patch
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diff --git a/msg/input_rc.msg b/msg/input_rc.msg
index d26c31ea0f..cf194c3b49 100644
--- a/msg/input_rc.msg
+++ b/msg/input_rc.msg
@@ -1,4 +1,5 @@
 uint64 timestamp			# time since system start (microseconds)
+uint64 timestamp_sample
 
 uint8 RC_INPUT_SOURCE_UNKNOWN = 0
 uint8 RC_INPUT_SOURCE_PX4FMU_PPM = 1
@@ -16,22 +17,16 @@ 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 input_source			# Input source
 
 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 funtionality.
-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.
-uint16 rc_ppm_frame_length		# Length of a single PPM frame. Zero for non-PPM systems
 
-uint8 input_source			# Input source
 uint16[18] values			# measured pulse widths for each of the supported channels
diff --git a/msg/px4io_status.msg b/msg/px4io_status.msg
index df072e71c2..5eb74deb76 100644
--- a/msg/px4io_status.msg
+++ b/msg/px4io_status.msg
@@ -13,17 +13,10 @@ 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_off
 
 # PX4IO alarms (PX4IO_P_STATUS_ALARMS)
 bool alarm_pwm_error
-bool alarm_rc_lost
 
 # PX4IO arming (PX4IO_P_SETUP_ARMING)
 bool arming_failsafe_custom
@@ -39,5 +32,3 @@ uint16[8] pwm_disarmed
 uint16[8] pwm_failsafe
 
 uint16[8] pwm_rate_hz
-
-uint16[18] raw_inputs
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 7927c623e5..d20657410a 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -202,6 +202,8 @@ private:
 
 	hrt_abstime             _last_status_publish{0};
 
+	uint16_t 		_rc_valid_update_count{0};
+
 	bool			_param_update_force{true};	///< force a parameter update
 	bool			_timer_rates_configured{false};
 
@@ -546,14 +548,14 @@ void PX4IO::Run()
 
 	SmartLock lock_guard(_lock);
 
-	if (hrt_elapsed_time(&_poll_last) >= 20_ms) {
-		/* run at 50 */
+	if (hrt_elapsed_time(&_poll_last) >= 10_ms) {
+		// run at 100 Hz
 		_poll_last = hrt_absolute_time();
 
-		/* pull status and alarms from IO */
+		// pull status and alarms from IO
 		io_get_status();
 
-		/* get raw R/C input from IO */
+		// get raw R/C input from IO
 		io_publish_raw_rc();
 	}
 
@@ -1119,12 +1121,6 @@ int PX4IO::io_get_status()
 
 		// PX4IO_P_STATUS_FLAGS
 		status.status_outputs_armed   = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED;
-		status.status_rc_ok           = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_RC_OK;
-		status.status_rc_ppm          = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_RC_PPM;
-		status.status_rc_dsm          = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_RC_DSM;
-		status.status_rc_sbus         = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_RC_SBUS;
-		status.status_rc_st24         = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_RC_ST24;
-		status.status_rc_sumd         = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_RC_SUMD;
 		status.status_fmu_initialized = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED;
 		status.status_fmu_ok          = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_FMU_OK;
 		status.status_raw_pwm         = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_RAW_PWM;
@@ -1134,7 +1130,6 @@ int PX4IO::io_get_status()
 		status.status_safety_off      = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
 
 		// PX4IO_P_STATUS_ALARMS
-		status.alarm_rc_lost       = STATUS_ALARMS & PX4IO_P_STATUS_ALARMS_RC_LOST;
 		status.alarm_pwm_error     = STATUS_ALARMS & PX4IO_P_STATUS_ALARMS_PWM_ERROR;
 
 		// PX4IO_P_SETUP_ARMING
@@ -1178,12 +1173,6 @@ int PX4IO::io_get_status()
 			}
 		}
 
-		uint16_t raw_inputs = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT);
-
-		for (unsigned i = 0; i < raw_inputs; i++) {
-			status.raw_inputs[i] = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + i);
-		}
-
 		status.timestamp = hrt_absolute_time();
 		_px4io_status_pub.publish(status);
 
@@ -1198,11 +1187,18 @@ int PX4IO::io_get_status()
 
 int PX4IO::io_publish_raw_rc()
 {
-	input_rc_s input_rc{};
-	input_rc.timestamp_last_signal = hrt_absolute_time();
+	const hrt_abstime time_now_us =  hrt_absolute_time();
 
-	/* set the RC status flag ORDER MATTERS! */
-	input_rc.rc_lost = !(_status & PX4IO_P_STATUS_FLAGS_RC_OK);
+	const uint16_t rc_valid_update_count = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_FRAME_COUNT);
+	const bool rc_updated = (rc_valid_update_count != _rc_valid_update_count);
+	_rc_valid_update_count = rc_valid_update_count;
+
+	if (!rc_updated) {
+		return 0;
+	}
+
+	input_rc_s input_rc{};
+	input_rc.timestamp_sample = time_now_us;
 
 	/* we don't have the status bits, so input_source has to be set elsewhere */
 	input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_UNKNOWN;
@@ -1232,37 +1228,19 @@ int PX4IO::io_publish_raw_rc()
 		channel_count = input_rc_s::RC_INPUT_MAX_CHANNELS;
 	}
 
-	input_rc.timestamp = hrt_absolute_time();
-
-	input_rc.rc_ppm_frame_length = regs[PX4IO_P_RAW_RC_DATA];
-
 	if (!_analog_rc_rssi_stable) {
 		input_rc.rssi = regs[PX4IO_P_RAW_RC_NRSSI];
 
 	} else {
-		float rssi_analog = ((_analog_rc_rssi_volt - 0.2f) / 3.0f) * 100.0f;
+		float rssi_analog = ((_analog_rc_rssi_volt - 0.2f) / 3.f) * 100.f;
 
-		if (rssi_analog > 100.0f) {
-			rssi_analog = 100.0f;
-		}
-
-		if (rssi_analog < 0.0f) {
-			rssi_analog = 0.0f;
-		}
-
-		input_rc.rssi = rssi_analog;
+		input_rc.rssi = math::constrain(rssi_analog, 0.f, 100.f);;
 	}
 
 	input_rc.rc_failsafe = (regs[PX4IO_P_RAW_RC_FLAGS] & PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
-	input_rc.rc_lost = !(regs[PX4IO_P_RAW_RC_FLAGS] & PX4IO_P_RAW_RC_FLAGS_RC_OK);
 	input_rc.rc_lost_frame_count = regs[PX4IO_P_RAW_LOST_FRAME_COUNT];
-	input_rc.rc_total_frame_count = regs[PX4IO_P_RAW_FRAME_COUNT];
 	input_rc.channel_count = channel_count;
 
-
-	/* FIELDS NOT SET HERE */
-	/* input_rc.input_source is set after this call XXX we might want to mirror the flags in the RC struct */
-
 	if (channel_count > 9) {
 		ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + 9, &regs[prolog + 9], channel_count - 9);
 
@@ -1276,11 +1254,6 @@ int PX4IO::io_publish_raw_rc()
 		input_rc.values[i] = regs[prolog + i];
 	}
 
-	/* zero the remaining fields */
-	for (unsigned i = channel_count; i < (sizeof(input_rc.values) / sizeof(input_rc.values[0])); i++) {
-		input_rc.values[i] = 0;
-	}
-
 	/* get RSSI from input channel */
 	if (_param_rc_rssi_pwm_chan.get() > 0 && _param_rc_rssi_pwm_chan.get() <= input_rc_s::RC_INPUT_MAX_CHANNELS) {
 		const auto &min = _param_rc_rssi_pwm_min.get();
@@ -1292,23 +1265,30 @@ int PX4IO::io_publish_raw_rc()
 		}
 	}
 
+	// regs[PX4IO_P_RAW_RC_NRSSI];
+
+	// (regs[PX4IO_P_RAW_RC_FLAGS] & PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
+
 	/* sort out the source of the values */
-	if (_status & PX4IO_P_STATUS_FLAGS_RC_PPM) {
+	if (regs[PX4IO_P_RAW_RC_FLAGS] & PX4IO_P_RAW_RC_FLAGS_RC_PPM) {
 		input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_PPM;
 
-	} else if (_status & PX4IO_P_STATUS_FLAGS_RC_DSM) {
+	} else if (regs[PX4IO_P_RAW_RC_FLAGS] & PX4IO_P_RAW_RC_FLAGS_RC_DSM) {
 		input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_SPEKTRUM;
 
-	} else if (_status & PX4IO_P_STATUS_FLAGS_RC_SBUS) {
+	} else if (regs[PX4IO_P_RAW_RC_FLAGS] & PX4IO_P_RAW_RC_FLAGS_RC_SBUS) {
 		input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_SBUS;
 
-	} else if (_status & PX4IO_P_STATUS_FLAGS_RC_ST24) {
+	} else if (regs[PX4IO_P_RAW_RC_FLAGS] & PX4IO_P_RAW_RC_FLAGS_RC_ST24) {
 		input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_ST24;
+
+	} else if (regs[PX4IO_P_RAW_RC_FLAGS] & PX4IO_P_RAW_RC_FLAGS_RC_SUMD) {
+		input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_SUMD;
 	}
 
-	if ((input_rc.channel_count > 0) && !input_rc.rc_lost && !input_rc.rc_failsafe
-	    && (input_rc.input_source != input_rc_s::RC_INPUT_SOURCE_UNKNOWN)) {
+	if (input_rc.input_source != input_rc_s::RC_INPUT_SOURCE_UNKNOWN) {
 
+		input_rc.timestamp = hrt_absolute_time();
 		_to_input_rc.publish(input_rc);
 	}
 
diff --git a/src/drivers/rc_input/RCInput.cpp b/src/drivers/rc_input/RCInput.cpp
index 071a678d0d..4bec4a26a4 100644
--- a/src/drivers/rc_input/RCInput.cpp
+++ b/src/drivers/rc_input/RCInput.cpp
@@ -48,12 +48,6 @@ RCInput::RCInput(const char *device) :
 	_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle time")),
 	_publish_interval_perf(perf_alloc(PC_INTERVAL, MODULE_NAME": publish interval"))
 {
-	// rc input, published to ORB
-	_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_PPM;
-
-	// initialize it as RC lost
-	_rc_in.rc_lost = true;
-
 	// initialize raw_rc values and count
 	for (unsigned i = 0; i < input_rc_s::RC_INPUT_MAX_CHANNELS; i++) {
 		_raw_rc_values[i] = UINT16_MAX;
@@ -203,8 +197,7 @@ RCInput::fill_rc_in(uint16_t raw_rc_count_local,
 	}
 
 	_rc_in.timestamp = now;
-	_rc_in.timestamp_last_signal = _rc_in.timestamp;
-	_rc_in.rc_ppm_frame_length = 0;
+	_rc_in.timestamp_sample = _rc_in.timestamp;
 
 	/* fake rssi if no value was provided */
 	if (rssi == -1) {
@@ -244,9 +237,7 @@ RCInput::fill_rc_in(uint16_t raw_rc_count_local,
 	}
 
 	_rc_in.rc_failsafe = failsafe;
-	_rc_in.rc_lost = (valid_chans == 0);
 	_rc_in.rc_lost_frame_count = frame_drops;
-	_rc_in.rc_total_frame_count = 0;
 }
 
 void RCInput::set_rc_scan_state(RC_SCAN newState)
@@ -531,10 +522,6 @@ void RCInput::Run()
 							fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp,
 								   false, false, frame_drops, st24_rssi);
 							_rc_scan_locked = true;
-
-						} else {
-							// if the lost count > 0 means that there is an RC loss
-							_rc_in.rc_lost = true;
 						}
 					}
 				}
@@ -600,14 +587,13 @@ void RCInput::Run()
 			} else if (_rc_scan_locked || cycle_timestamp - _rc_scan_begin < rc_scan_max) {
 
 				// see if we have new PPM input data
-				if ((ppm_last_valid_decode != _rc_in.timestamp_last_signal) && ppm_decoded_channels > 3) {
+				if ((ppm_last_valid_decode != _rc_in.timestamp_sample) && ppm_decoded_channels > 3) {
 					// we have a new PPM frame. Publish it.
 					rc_updated = true;
 					_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_PPM;
 					fill_rc_in(ppm_decoded_channels, ppm_buffer, cycle_timestamp, false, false, 0);
 					_rc_scan_locked = true;
-					_rc_in.rc_ppm_frame_length = ppm_frame_length;
-					_rc_in.timestamp_last_signal = ppm_last_valid_decode;
+					_rc_in.timestamp_sample = ppm_last_valid_decode;
 				}
 
 			} else {
@@ -730,7 +716,7 @@ void RCInput::Run()
 
 			_to_input_rc.publish(_rc_in);
 
-		} else if (!rc_updated && !_armed && (hrt_elapsed_time(&_rc_in.timestamp_last_signal) > 1_s)) {
+		} else if (!rc_updated && !_armed && (hrt_elapsed_time(&_rc_in.timestamp_sample) > 1_s)) {
 			_rc_scan_locked = false;
 		}
 
diff --git a/src/drivers/rpi_rc_in/rpi_rc_in.cpp b/src/drivers/rpi_rc_in/rpi_rc_in.cpp
index d565bac27d..18aca8c89e 100644
--- a/src/drivers/rpi_rc_in/rpi_rc_in.cpp
+++ b/src/drivers/rpi_rc_in/rpi_rc_in.cpp
@@ -115,14 +115,9 @@ void RcInput::_measure(void)
 
 	ts = hrt_absolute_time();
 	_data.timestamp = ts;
-	_data.timestamp_last_signal = ts;
+	_data.timestamp_sample = ts;
 	_data.channel_count = _channels;
 	_data.rssi = 100;
-	_data.rc_lost_frame_count = 0;
-	_data.rc_total_frame_count = 1;
-	_data.rc_ppm_frame_length = 100;
-	_data.rc_failsafe = false;
-	_data.rc_lost = false;
 	_data.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_PPM;
 
 	_rcinput_pub.publish(_data);
diff --git a/src/drivers/snapdragon_spektrum_rc/spektrum_rc.cpp b/src/drivers/snapdragon_spektrum_rc/spektrum_rc.cpp
index 228b422500..2b518b6f83 100644
--- a/src/drivers/snapdragon_spektrum_rc/spektrum_rc.cpp
+++ b/src/drivers/snapdragon_spektrum_rc/spektrum_rc.cpp
@@ -184,8 +184,7 @@ void fill_input_rc(uint16_t raw_rc_count, uint16_t raw_rc_values[input_rc_s::RC_
 	}
 
 	input_rc.timestamp = now;
-	input_rc.timestamp_last_signal = input_rc.timestamp;
-	input_rc.rc_ppm_frame_length = 0;
+	input_rc.timestamp_sample = input_rc.timestamp;
 
 	/* fake rssi if no value was provided */
 	if (rssi == -1) {
@@ -201,9 +200,7 @@ void fill_input_rc(uint16_t raw_rc_count, uint16_t raw_rc_values[input_rc_s::RC_
 	}
 
 	input_rc.rc_failsafe = failsafe;
-	input_rc.rc_lost = (valid_chans == 0);
 	input_rc.rc_lost_frame_count = frame_drops;
-	input_rc.rc_total_frame_count = 0;
 }
 
 int start(int argc, char *argv[])
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index d3c4a8fc47..51b605d6a0 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -1996,12 +1996,8 @@ MavlinkReceiver::handle_message_rc_channels_override(mavlink_message_t *msg)
 	// fill uORB message
 	input_rc_s rc{};
 	// metadata
-	rc.timestamp = rc.timestamp_last_signal = hrt_absolute_time();
+	rc.timestamp_sample = hrt_absolute_time();
 	rc.rssi = input_rc_s::RSSI_MAX;
-	rc.rc_failsafe = false;
-	rc.rc_lost = false;
-	rc.rc_lost_frame_count = 0;
-	rc.rc_total_frame_count = 1;
 	rc.input_source = input_rc_s::RC_INPUT_SOURCE_MAVLINK;
 
 	// channels
@@ -2063,6 +2059,7 @@ MavlinkReceiver::handle_message_rc_channels_override(mavlink_message_t *msg)
 	}
 
 	// publish uORB message
+	rc.timestamp = hrt_absolute_time();
 	_rc_pub.publish(rc);
 }
 
diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c
index 7d22df983c..2d02e8353e 100644
--- a/src/modules/px4iofirmware/controls.c
+++ b/src/modules/px4iofirmware/controls.c
@@ -56,7 +56,7 @@
 
 #include "px4io.h"
 
-static bool	ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len);
+static bool	ppm_input(uint16_t *values, uint16_t *num_values);
 static bool	dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated, bool *sumd_updated);
 
 #if defined(PX4IO_PERF)
@@ -72,117 +72,92 @@ int _sbus_fd = -1;
 static unsigned _rssi_adc_counts = 0;
 #endif
 
-/* receive signal strenght indicator (RSSI). 0 = no connection, 100 (input_rc_s::RSSI_MAX): perfect connection */
-/* Note: this is static because RC-provided telemetry does not occur every tick */
-static uint16_t _rssi = 0;
-static unsigned _frame_drops = 0;
-
 bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated, bool *sumd_updated)
 {
-#if defined(PX4IO_PERF)
-	perf_begin(c_gather_dsm);
-#endif
 	uint8_t n_bytes = 0;
 	uint8_t *bytes;
 	bool dsm_11_bit;
 	int8_t spektrum_rssi;
-	unsigned frame_drops;
+	unsigned frame_drops = 0;
 	*dsm_updated = dsm_input(_dsm_fd, r_raw_rc_values, &r_raw_rc_count, &dsm_11_bit, &n_bytes, &bytes,
 				 &spektrum_rssi, &frame_drops, PX4IO_RC_INPUT_CHANNELS);
 
 	if (*dsm_updated) {
 
-		if (dsm_11_bit) {
-			r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_DSM11;
-
-		} else {
-			r_raw_rc_flags &= ~PX4IO_P_RAW_RC_FLAGS_RC_DSM11;
-		}
-
-		if (frame_drops == _frame_drops) {
-			r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP);
-
-		} else {
-			r_raw_rc_flags |= (PX4IO_P_RAW_RC_FLAGS_FRAME_DROP);
-		}
-
-		_frame_drops = frame_drops;
+		r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_DSM;
 		r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
 
 		if (spektrum_rssi >= 0 && spektrum_rssi <= 100) {
-
 			/* ensure ADC RSSI is disabled */
 			r_setup_features &= ~(PX4IO_P_SETUP_FEATURES_ADC_RSSI);
 
 			*rssi = spektrum_rssi;
 		}
+
+		r_page_raw_rc_input[PX4IO_P_RAW_LOST_FRAME_COUNT] = frame_drops;
 	}
 
-#if defined(PX4IO_PERF)
-	perf_end(c_gather_dsm);
-#endif
 
 	/* get data from FD and attempt to parse with DSM and ST24 libs */
-	uint8_t st24_rssi, lost_count;
-	uint16_t st24_channel_count = 0;
-
 	*st24_updated = false;
 
-	if (!(r_status_flags & (PX4IO_P_STATUS_FLAGS_RC_DSM | PX4IO_P_STATUS_FLAGS_RC_SUMD))) {
+	if (!(r_raw_rc_flags & (PX4IO_P_RAW_RC_FLAGS_RC_DSM | PX4IO_P_RAW_RC_FLAGS_RC_SUMD))) {
+		uint8_t st24_rssi = 0;
+		uint8_t lost_count = 0;
+		uint16_t st24_channel_count = 0;
+
 		for (unsigned i = 0; i < n_bytes; i++) {
 			/* set updated flag if one complete packet was parsed */
 			st24_rssi = INPUT_RC_RSSI_MAX; // input_rc_s::RSSI_MAX;
 			*st24_updated |= (OK == st24_decode(bytes[i], &st24_rssi, &lost_count,
 							    &st24_channel_count, r_raw_rc_values, PX4IO_RC_INPUT_CHANNELS));
 		}
-	}
 
-	if (*st24_updated && lost_count == 0) {
+		if (*st24_updated && lost_count == 0) {
+			/* ensure ADC RSSI is disabled */
+			r_setup_features &= ~(PX4IO_P_SETUP_FEATURES_ADC_RSSI);
 
-		/* ensure ADC RSSI is disabled */
-		r_setup_features &= ~(PX4IO_P_SETUP_FEATURES_ADC_RSSI);
+			*rssi = st24_rssi;
+			r_raw_rc_count = st24_channel_count;
 
-		*rssi = st24_rssi;
-		r_raw_rc_count = st24_channel_count;
-
-		atomic_modify_or(&r_status_flags, PX4IO_P_STATUS_FLAGS_RC_ST24);
-		r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP);
-		r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
+			r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_ST24;
+			r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
+		}
 	}
 
 
 	/* get data from FD and attempt to parse with SUMD libs */
-	uint8_t sumd_rssi, sumd_rx_count;
-	uint16_t sumd_channel_count = 0;
-	bool sumd_failsafe_state;
-
 	*sumd_updated = false;
 
-	if (!(r_status_flags & (PX4IO_P_STATUS_FLAGS_RC_DSM | PX4IO_P_STATUS_FLAGS_RC_ST24))) {
+	if (!(r_raw_rc_flags & (PX4IO_P_RAW_RC_FLAGS_RC_DSM | PX4IO_P_RAW_RC_FLAGS_RC_ST24))) {
+		uint8_t sumd_rssi = 0;
+		uint8_t sumd_rx_count = 0;
+		uint16_t sumd_channel_count = 0;
+		bool sumd_failsafe_state = false;
+
 		for (unsigned i = 0; i < n_bytes; i++) {
 			/* set updated flag if one complete packet was parsed */
 			sumd_rssi = INPUT_RC_RSSI_MAX; // input_rc_s::RSSI_MAX;
 			*sumd_updated |= (OK == sumd_decode(bytes[i], &sumd_rssi, &sumd_rx_count,
 							    &sumd_channel_count, r_raw_rc_values, PX4IO_RC_INPUT_CHANNELS, &sumd_failsafe_state));
 		}
-	}
 
-	if (*sumd_updated) {
+		if (*sumd_updated) {
+			/* not setting RSSI since SUMD does not provide one */
+			r_raw_rc_count = sumd_channel_count;
 
-		/* not setting RSSI since SUMD does not provide one */
-		r_raw_rc_count = sumd_channel_count;
+			r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_SUMD;
 
-		atomic_modify_or(&r_status_flags, PX4IO_P_STATUS_FLAGS_RC_SUMD);
-		r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP);
+			if (sumd_failsafe_state) {
+				r_raw_rc_flags |= (PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
 
-		if (sumd_failsafe_state) {
-			r_raw_rc_flags |= (PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
-
-		} else {
-			r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
+			} else {
+				r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
+			}
 		}
 	}
 
+
 	return (*dsm_updated | *st24_updated | *sumd_updated);
 }
 
@@ -218,6 +193,8 @@ controls_tick()
 	 * other.  Don't do that.
 	 */
 
+	uint16_t rssi = 0;
+
 #ifdef ADC_RSSI
 
 	if (r_setup_features & PX4IO_P_SETUP_FEATURES_ADC_RSSI) {
@@ -229,45 +206,39 @@ controls_tick()
 			/* use 1:1 scaling on 3.3V, 12-Bit ADC input */
 			unsigned mV = _rssi_adc_counts * 3300 / 4095;
 			/* scale to 0..100 (input_rc_s::RSSI_MAX == 100) */
-			_rssi = (mV * INPUT_RC_RSSI_MAX / 3300);
+			rssi = (mV * INPUT_RC_RSSI_MAX / 3300);
 
-			if (_rssi > INPUT_RC_RSSI_MAX) {
-				_rssi = INPUT_RC_RSSI_MAX;
+			if (rssi > INPUT_RC_RSSI_MAX) {
+				rssi = INPUT_RC_RSSI_MAX;
 			}
 		}
 	}
 
-#endif
-
-	/* zero RSSI if signal is lost */
-	if (!(r_raw_rc_flags & (PX4IO_P_RAW_RC_FLAGS_RC_OK))) {
-		_rssi = 0;
-	}
-
-#if defined(PX4IO_PERF)
-	perf_begin(c_gather_sbus);
 #endif
 
 	bool sbus_updated = false;
 
-	if (!(r_status_flags & (PX4IO_P_STATUS_FLAGS_RC_DSM | PX4IO_P_STATUS_FLAGS_RC_ST24 | PX4IO_P_STATUS_FLAGS_RC_SUMD))) {
-		bool sbus_failsafe, sbus_frame_drop;
+	if (!(r_raw_rc_flags & (PX4IO_P_RAW_RC_FLAGS_RC_PPM | PX4IO_P_RAW_RC_FLAGS_RC_DSM | PX4IO_P_RAW_RC_FLAGS_RC_ST24 |
+				PX4IO_P_RAW_RC_FLAGS_RC_SUMD))) {
+#if defined(PX4IO_PERF)
+		perf_begin(c_gather_sbus);
+#endif
+		bool sbus_failsafe = false;
+		bool sbus_frame_drop = false;
 		sbus_updated = sbus_input(_sbus_fd, r_raw_rc_values, &r_raw_rc_count, &sbus_failsafe, &sbus_frame_drop,
 					  PX4IO_RC_INPUT_CHANNELS);
 
 		if (sbus_updated) {
-			atomic_modify_or(&r_status_flags, PX4IO_P_STATUS_FLAGS_RC_SBUS);
+			r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_SBUS;
 
 			unsigned sbus_rssi = INPUT_RC_RSSI_MAX; // input_rc_s::RSSI_MAX
 
 			if (sbus_frame_drop) {
-				r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_FRAME_DROP;
 				sbus_rssi = INPUT_RC_RSSI_MAX / 2;
-
-			} else {
-				r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP);
 			}
 
+			r_page_raw_rc_input[PX4IO_P_RAW_LOST_FRAME_COUNT] = sbus_dropped_frames();
+
 			if (sbus_failsafe) {
 				r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_FAILSAFE;
 
@@ -277,56 +248,51 @@ controls_tick()
 
 			/* set RSSI to an emulated value if ADC RSSI is off */
 			if (!(r_setup_features & PX4IO_P_SETUP_FEATURES_ADC_RSSI)) {
-				_rssi = sbus_rssi;
+				rssi = sbus_rssi;
 			}
 		}
-	}
 
 #if defined(PX4IO_PERF)
-	perf_end(c_gather_sbus);
+		perf_end(c_gather_sbus);
 #endif
+	}
+
 
 	/*
 	 * XXX each S.bus frame will cause a PPM decoder interrupt
 	 * storm (lots of edges).  It might be sensible to actually
 	 * disable the PPM decoder completely if we have S.bus signal.
 	 */
+	bool ppm_updated = false;
+
+	if (!(r_raw_rc_flags & (PX4IO_P_RAW_RC_FLAGS_RC_SBUS | PX4IO_P_RAW_RC_FLAGS_RC_DSM | PX4IO_P_RAW_RC_FLAGS_RC_ST24 |
+				PX4IO_P_RAW_RC_FLAGS_RC_SUMD))) {
 #if defined(PX4IO_PERF)
-	perf_begin(c_gather_ppm);
+		perf_begin(c_gather_ppm);
 #endif
-	bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count, &r_page_raw_rc_input[PX4IO_P_RAW_RC_DATA]);
+		ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count);
 
-	if (ppm_updated) {
+		if (ppm_updated) {
+			r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_PPM;
+			r_raw_rc_flags &= ~PX4IO_P_RAW_RC_FLAGS_FAILSAFE;
+		}
 
-		atomic_modify_or(&r_status_flags, PX4IO_P_STATUS_FLAGS_RC_PPM);
-		r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP);
-		r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
+#if defined(PX4IO_PERF)
+		perf_end(c_gather_ppm);
+#endif
 	}
 
-#if defined(PX4IO_PERF)
-	perf_end(c_gather_ppm);
-#endif
 
-	bool dsm_updated = false, st24_updated = false, sumd_updated = false;
+	bool dsm_updated = false;
+	bool st24_updated = false;
+	bool sumd_updated = false;
 
-	if (!(r_status_flags & (PX4IO_P_STATUS_FLAGS_RC_SBUS | PX4IO_P_STATUS_FLAGS_RC_PPM))) {
+	if (!(r_raw_rc_flags & (PX4IO_P_RAW_RC_FLAGS_RC_SBUS | PX4IO_P_RAW_RC_FLAGS_RC_PPM))) {
 #if defined(PX4IO_PERF)
 		perf_begin(c_gather_dsm);
 #endif
 
-		(void)dsm_port_input(&_rssi, &dsm_updated, &st24_updated, &sumd_updated);
-
-		if (dsm_updated) {
-			atomic_modify_or(&r_status_flags, PX4IO_P_STATUS_FLAGS_RC_DSM);
-		}
-
-		if (st24_updated) {
-			atomic_modify_or(&r_status_flags, PX4IO_P_STATUS_FLAGS_RC_ST24);
-		}
-
-		if (sumd_updated) {
-			atomic_modify_or(&r_status_flags, PX4IO_P_STATUS_FLAGS_RC_SUMD);
-		}
+		(void)dsm_port_input(&rssi, &dsm_updated, &st24_updated, &sumd_updated);
 
 #if defined(PX4IO_PERF)
 		perf_end(c_gather_dsm);
@@ -339,81 +305,40 @@ controls_tick()
 	}
 
 	/* store RSSI */
-	r_page_raw_rc_input[PX4IO_P_RAW_RC_NRSSI] = _rssi;
-
-	/*
-	 * In some cases we may have received a frame, but input has still
-	 * been lost.
-	 */
-	bool rc_input_lost = false;
+	r_page_raw_rc_input[PX4IO_P_RAW_RC_NRSSI] = rssi;
 
 	/*
 	 * If we received a new frame from any of the RC sources, process it.
 	 */
 	if (dsm_updated || sbus_updated || ppm_updated || st24_updated || sumd_updated) {
 
-		/* record a bitmask of channels assigned */
-		unsigned assigned_channels = 0;
-
 		/* update RC-received timestamp */
 		system_state.rc_channels_timestamp_received = hrt_absolute_time();
 
-		/* set RC OK flag, as we got an update */
-		atomic_modify_or(&r_status_flags, PX4IO_P_STATUS_FLAGS_RC_OK);
-		r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_OK;
+		r_page_raw_rc_input[PX4IO_P_RAW_FRAME_COUNT]++;
 
-		/* if we have enough channels (5) to control the vehicle, the mapping is ok */
-		if (assigned_channels > 4) {
-			r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_MAPPING_OK;
+	} else if (hrt_elapsed_time(&system_state.rc_channels_timestamp_received) > 200000) {
+		/* clear the input-kind flags here, but only when disarmed */
+		if (!(r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
 
-		} else {
-			r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_MAPPING_OK);
+			r_raw_rc_flags &= ~PX4IO_P_RAW_RC_FLAGS_RC_PPM;
+			r_raw_rc_flags &= ~PX4IO_P_RAW_RC_FLAGS_RC_DSM;
+			r_raw_rc_flags &= ~PX4IO_P_RAW_RC_FLAGS_RC_SBUS;
+			r_raw_rc_flags &= ~PX4IO_P_RAW_RC_FLAGS_RC_ST24;
+			r_raw_rc_flags &= ~PX4IO_P_RAW_RC_FLAGS_RC_SUMD;
 		}
-	}
-
-	/*
-	 * If we haven't seen any new control data in 200ms, assume we
-	 * have lost input.
-	 */
-	if (!rc_input_lost && hrt_elapsed_time(&system_state.rc_channels_timestamp_received) > 200000) {
-		rc_input_lost = true;
-
-		/* clear the input-kind flags here */
-		atomic_modify_clear(&r_status_flags, (
-					    PX4IO_P_STATUS_FLAGS_RC_PPM |
-					    PX4IO_P_STATUS_FLAGS_RC_DSM |
-					    PX4IO_P_STATUS_FLAGS_RC_SBUS |
-					    PX4IO_P_STATUS_FLAGS_RC_ST24 |
-					    PX4IO_P_STATUS_FLAGS_RC_SUMD));
-
-	}
-
-	/*
-	 * Handle losing RC input
-	 */
-
-	/* this kicks in if the receiver is gone, but there is not on failsafe (indicated by separate flag) */
-	if (rc_input_lost) {
-		/* Clear the RC input status flag, clear manual override flag */
-		atomic_modify_clear(&r_status_flags, PX4IO_P_STATUS_FLAGS_RC_OK);
-
-		/* flag raw RC as lost */
-		r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_RC_OK);
 
 		/* Set raw channel count to zero */
 		r_raw_rc_count = 0;
-
-		/* Set the RC_LOST alarm */
-		atomic_modify_or(&r_status_alarms, PX4IO_P_STATUS_ALARMS_RC_LOST);
 	}
 }
 
 static bool
-ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len)
+ppm_input(uint16_t *values, uint16_t *num_values)
 {
 	bool result = false;
 
-	if (!(num_values) || !(values) || !(frame_len)) {
+	if (!(num_values) || !(values)) {
 		return result;
 	}
 
@@ -441,7 +366,7 @@ ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len)
 		ppm_last_valid_decode = 0;
 
 		/* store PPM frame length */
-		*frame_len = ppm_frame_length;
+		//*frame_len = ppm_frame_length;
 
 		/* good if we got any channels */
 		result = (*num_values > 0);
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h
index 73c82dae9d..18314ded07 100644
--- a/src/modules/px4iofirmware/protocol.h
+++ b/src/modules/px4iofirmware/protocol.h
@@ -98,29 +98,19 @@
 #define PX4IO_PAGE_STATUS			1
 #define PX4IO_P_STATUS_FREEMEM			0
 #define PX4IO_P_STATUS_CPULOAD			1
-
 #define PX4IO_P_STATUS_FLAGS			2	 /* monitoring flags */
 #define PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED	(1 << 0) /* arm-ok and locally armed */
-#define PX4IO_P_STATUS_FLAGS_RC_OK		(1 << 1) /* RC input is valid */
-#define PX4IO_P_STATUS_FLAGS_RC_PPM		(1 << 2) /* PPM input is valid */
-#define PX4IO_P_STATUS_FLAGS_RC_DSM		(1 << 3) /* DSM input is valid */
-#define PX4IO_P_STATUS_FLAGS_RC_SBUS		(1 << 4) /* SBUS input is valid */
-#define PX4IO_P_STATUS_FLAGS_FMU_OK		(1 << 5) /* controls from FMU are valid */
-#define PX4IO_P_STATUS_FLAGS_RAW_PWM		(1 << 6) /* raw PWM from FMU */
-#define PX4IO_P_STATUS_FLAGS_ARM_SYNC		(1 << 7) /* the arming state between IO and FMU is in sync */
-#define PX4IO_P_STATUS_FLAGS_INIT_OK		(1 << 8) /* initialisation of the IO completed without error */
-#define PX4IO_P_STATUS_FLAGS_FAILSAFE		(1 << 9) /* failsafe is active */
-#define PX4IO_P_STATUS_FLAGS_SAFETY_OFF         (1 << 10) /* safety is off */
-#define PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED	(1 << 11) /* FMU was initialized and OK once */
-#define PX4IO_P_STATUS_FLAGS_RC_ST24		(1 << 12) /* ST24 input is valid */
-#define PX4IO_P_STATUS_FLAGS_RC_SUMD		(1 << 13) /* SUMD input is valid */
-
+#define PX4IO_P_STATUS_FLAGS_FMU_OK		(1 << 1) /* controls from FMU are valid */
+#define PX4IO_P_STATUS_FLAGS_RAW_PWM		(1 << 2) /* raw PWM from FMU */
+#define PX4IO_P_STATUS_FLAGS_ARM_SYNC		(1 << 3) /* the arming state between IO and FMU is in sync */
+#define PX4IO_P_STATUS_FLAGS_INIT_OK		(1 << 4) /* initialisation of the IO completed without error */
+#define PX4IO_P_STATUS_FLAGS_FAILSAFE		(1 << 5) /* failsafe is active */
+#define PX4IO_P_STATUS_FLAGS_SAFETY_OFF         (1 << 6) /* safety is off */
+#define PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED	(1 << 7) /* FMU was initialized and OK once */
 #define PX4IO_P_STATUS_ALARMS			3	 /* alarm flags - alarms latch, write 1 to a bit to clear it */
-#define PX4IO_P_STATUS_ALARMS_RC_LOST           (1 << 0) /* timed out waiting for RC input */
 #define PX4IO_P_STATUS_ALARMS_PWM_ERROR         (1 << 1) /* PWM configuration or output was bad */
-
-#define PX4IO_P_STATUS_VSERVO			6	/* [2] servo rail voltage in mV */
-#define PX4IO_P_STATUS_VRSSI			7	/* [2] RSSI voltage */
+#define PX4IO_P_STATUS_VSERVO			4	/* [2] servo rail voltage in mV */
+#define PX4IO_P_STATUS_VRSSI			5	/* [2] RSSI voltage */
 
 /* array of PWM servo output values, microseconds */
 #define PX4IO_PAGE_SERVOS			3	/* 0..CONFIG_ACTUATOR_COUNT-1 */
@@ -129,17 +119,16 @@
 #define PX4IO_PAGE_RAW_RC_INPUT			4
 #define PX4IO_P_RAW_RC_COUNT			0	/* number of valid channels */
 #define PX4IO_P_RAW_RC_FLAGS			1	/* RC detail status flags */
-#define PX4IO_P_RAW_RC_FLAGS_FRAME_DROP		(1 << 0) /* single frame drop */
-#define PX4IO_P_RAW_RC_FLAGS_FAILSAFE		(1 << 1) /* receiver is in failsafe mode */
-#define PX4IO_P_RAW_RC_FLAGS_RC_DSM11		(1 << 2) /* DSM decoding is 11 bit mode */
-#define PX4IO_P_RAW_RC_FLAGS_MAPPING_OK		(1 << 3) /* Channel mapping is ok */
-#define PX4IO_P_RAW_RC_FLAGS_RC_OK		(1 << 4) /* RC reception ok */
-
+#define PX4IO_P_RAW_RC_FLAGS_FAILSAFE         (1 << 0) /* receiver is in failsafe mode */
+#define PX4IO_P_RAW_RC_FLAGS_RC_DSM           (1 << 1) /* DSM decoding */
+#define PX4IO_P_RAW_RC_FLAGS_RC_PPM           (1 << 2) /* PPM decoding */
+#define PX4IO_P_RAW_RC_FLAGS_RC_SBUS          (1 << 3) /* SBUS decoding */
+#define PX4IO_P_RAW_RC_FLAGS_RC_ST24          (1 << 4) /* ST24 decoding */
+#define PX4IO_P_RAW_RC_FLAGS_RC_SUMD          (1 << 5) /* SUMD decoding */
 #define PX4IO_P_RAW_RC_NRSSI			2	/* [2] Normalized RSSI value, 0: no reception, 255: perfect reception */
-#define PX4IO_P_RAW_RC_DATA			3	/* [1] + [2] Details about the RC source (PPM frame length, Spektrum protocol type) */
-#define PX4IO_P_RAW_FRAME_COUNT			4	/* Number of total received frames (wrapping counter) */
-#define PX4IO_P_RAW_LOST_FRAME_COUNT		5	/* Number of total dropped frames (wrapping counter) */
-#define PX4IO_P_RAW_RC_BASE			6	/* CONFIG_RC_INPUT_COUNT channels from here */
+#define PX4IO_P_RAW_FRAME_COUNT                 3	/* Number of total received frames (wrapping counter) */
+#define PX4IO_P_RAW_LOST_FRAME_COUNT		4	/* Number of total dropped frames (wrapping counter) */
+#define PX4IO_P_RAW_RC_BASE			5	/* CONFIG_RC_INPUT_COUNT channels from here */
 
 /* array of raw ADC values */
 #define PX4IO_PAGE_RAW_ADC_INPUT		6	/* 0..CONFIG_ADC_INPUT_COUNT-1 */
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index d8166d1dbb..aa55779c5b 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -106,8 +106,7 @@ uint16_t		r_page_raw_rc_input[] = {
 	[PX4IO_P_RAW_RC_COUNT]			= 0,
 	[PX4IO_P_RAW_RC_FLAGS]			= 0,
 	[PX4IO_P_RAW_RC_NRSSI]			= 0,
-	[PX4IO_P_RAW_RC_DATA]			= 0,
-	[PX4IO_P_RAW_FRAME_COUNT]		= 0,
+	[PX4IO_P_RAW_FRAME_COUNT]	= 0,
 	[PX4IO_P_RAW_LOST_FRAME_COUNT]		= 0,
 	[PX4IO_P_RAW_RC_BASE ...(PX4IO_P_RAW_RC_BASE + PX4IO_RC_INPUT_CHANNELS)] = 0
 };
diff --git a/src/modules/rc_update/rc_update.cpp b/src/modules/rc_update/rc_update.cpp
index bb2d711d66..ca9fb0345a 100644
--- a/src/modules/rc_update/rc_update.cpp
+++ b/src/modules/rc_update/rc_update.cpp
@@ -372,16 +372,14 @@ void RCUpdate::Run()
 	if (_input_rc_sub.update(&input_rc)) {
 
 		// warn if the channel count is changing (possibly indication of error)
-		if (!input_rc.rc_lost) {
-			if ((_channel_count_previous != input_rc.channel_count)
-			    && (_channel_count_previous > 0)) {
-				PX4_WARN("channel count changed %d -> %d", _channel_count_previous, input_rc.channel_count);
-			}
+		if ((_channel_count_previous != input_rc.channel_count)
+		    && (_channel_count_previous > 0)) {
+			PX4_WARN("channel count changed %d -> %d", _channel_count_previous, input_rc.channel_count);
+		}
 
-			if ((_input_source_previous != input_rc.input_source)
-			    && (_input_source_previous != input_rc_s::RC_INPUT_SOURCE_UNKNOWN)) {
-				PX4_WARN("input source changed %d -> %d", _input_source_previous, input_rc.input_source);
-			}
+		if ((_input_source_previous != input_rc.input_source)
+		    && (_input_source_previous != input_rc_s::RC_INPUT_SOURCE_UNKNOWN)) {
+			PX4_WARN("input source changed %d -> %d", _input_source_previous, input_rc.input_source);
 		}
 
 		const bool input_source_stable = (input_rc.input_source == _input_source_previous);
@@ -400,7 +398,7 @@ void RCUpdate::Run()
 		bool signal_lost = true;
 
 		/* check flags and require at least four channels to consider the signal valid */
-		if (input_rc.rc_lost || input_rc.rc_failsafe || input_rc.channel_count < 4) {
+		if (input_rc.rc_failsafe || input_rc.channel_count < 4) {
 			/* signal is lost or no enough channels */
 			signal_lost = true;
 
@@ -503,7 +501,7 @@ void RCUpdate::Run()
 		_rc.channel_count = input_rc.channel_count;
 		_rc.rssi = input_rc.rssi;
 		_rc.signal_lost = _rc_signal_lost_hysteresis.get_state();
-		_rc.timestamp = input_rc.timestamp_last_signal;
+		_rc.timestamp = input_rc.timestamp;
 		_rc.frame_drop_count = input_rc.rc_lost_frame_count;
 
 		/* publish rc_channels topic even if signal is invalid, for debug */
@@ -512,8 +510,8 @@ void RCUpdate::Run()
 		// only publish manual control if the signal is present and regularly updating
 		if (input_source_stable && channel_count_stable && !_rc_signal_lost_hysteresis.get_state()) {
 
-			if ((input_rc.timestamp_last_signal > _last_timestamp_signal)
-			    && (input_rc.timestamp_last_signal < _last_timestamp_signal + VALID_DATA_MIN_INTERVAL_US)) {
+			if ((input_rc.timestamp_sample > _last_timestamp_sample)
+			    && (input_rc.timestamp_sample < _last_timestamp_sample + VALID_DATA_MIN_INTERVAL_US)) {
 
 				perf_count(_valid_data_interval_perf);
 
@@ -529,10 +527,10 @@ void RCUpdate::Run()
 
 				// limit processing if there's no update
 				if (rc_updated || (hrt_elapsed_time(&_last_manual_control_input_publish) > 300_ms)) {
-					UpdateManualControlInput(input_rc.timestamp_last_signal);
+					UpdateManualControlInput(input_rc.timestamp_sample);
 				}
 
-				UpdateManualSwitches(input_rc.timestamp_last_signal);
+				UpdateManualSwitches(input_rc.timestamp_sample);
 
 				/* Update parameters from RC Channels (tuning with RC) if activated */
 				if (hrt_elapsed_time(&_last_rc_to_param_map_time) > 1_s) {
@@ -541,7 +539,7 @@ void RCUpdate::Run()
 				}
 			}
 
-			_last_timestamp_signal = input_rc.timestamp_last_signal;
+			_last_timestamp_sample = input_rc.timestamp_sample;
 
 		} else {
 			// RC input unstable or lost, clear any previous manual_switches
diff --git a/src/modules/rc_update/rc_update.h b/src/modules/rc_update/rc_update.h
index 426ffa02ee..22d36178a1 100644
--- a/src/modules/rc_update/rc_update.h
+++ b/src/modules/rc_update/rc_update.h
@@ -181,7 +181,7 @@ private:
 
 	hrt_abstime _last_manual_control_input_publish{0};
 	hrt_abstime _last_rc_to_param_map_time{0};
-	hrt_abstime _last_timestamp_signal{0};
+	hrt_abstime _last_timestamp_sample{0};
 
 	uint16_t _rc_values_previous[RC_MAX_CHAN_COUNT] {};
 	float _last_manual_control_input[3] {};
diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp
index 2e2ea3c69b..747bf315bf 100644
--- a/src/modules/simulator/simulator_mavlink.cpp
+++ b/src/modules/simulator/simulator_mavlink.cpp
@@ -649,7 +649,7 @@ void Simulator::handle_message_rc_channels(const mavlink_message_t *msg)
 	mavlink_msg_rc_channels_decode(msg, &rc_channels);
 
 	input_rc_s rc_input{};
-	rc_input.timestamp_last_signal = hrt_absolute_time();
+	rc_input.timestamp_sample = hrt_absolute_time();
 	rc_input.channel_count = rc_channels.chancount;
 	rc_input.rssi = rc_channels.rssi;
 	rc_input.values[0] = rc_channels.chan1_raw;
diff --git a/src/systemcmds/tests/test_rc.cpp b/src/systemcmds/tests/test_rc.cpp
index 97f7065115..686cdba2e2 100644
--- a/src/systemcmds/tests/test_rc.cpp
+++ b/src/systemcmds/tests/test_rc.cpp
@@ -118,7 +118,7 @@ int test_rc(int argc, char *argv[])
 						return ERROR;
 					}
 
-					if (hrt_absolute_time() - rc_input.timestamp_last_signal > 100000) {
+					if (hrt_absolute_time() - rc_input.timestamp_sample > 100000) {
 						PX4_ERR("TIMEOUT, less than 10 Hz updates");
 						(void)orb_unsubscribe(_rc_sub);
 						return ERROR;