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100 lines
8.3 KiB
Markdown
100 lines
8.3 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# Px4ioStatus (UORB message)
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**TOPICS:** px4io_status
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## Fields
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| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
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| ----------------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
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| timestamp | `uint64` | | | time since system start (microseconds) |
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| free_memory_bytes | `uint16` | | | |
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| voltage_v | `float32` | | | Servo rail voltage in volts |
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| rssi_v | `float32` | | | RSSI pin voltage in volts |
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| status_arm_sync | `bool` | | | |
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| status_failsafe | `bool` | | | |
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| status_fmu_initialized | `bool` | | | |
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| status_fmu_ok | `bool` | | | |
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| status_init_ok | `bool` | | | |
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| status_outputs_armed | `bool` | | | |
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| status_raw_pwm | `bool` | | | |
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| status_rc_ok | `bool` | | | |
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| status_rc_dsm | `bool` | | | |
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| status_rc_ppm | `bool` | | | |
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| status_rc_sbus | `bool` | | | |
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| status_rc_st24 | `bool` | | | |
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| status_rc_sumd | `bool` | | | |
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| status_safety_button_event | `bool` | | | px4io safety button was pressed for longer than 1 second |
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| alarm_pwm_error | `bool` | | | |
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| alarm_rc_lost | `bool` | | | |
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| arming_failsafe_custom | `bool` | | | |
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| arming_fmu_armed | `bool` | | | |
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| arming_fmu_prearmed | `bool` | | | |
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| arming_termination | `bool` | | | |
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| arming_io_arm_ok | `bool` | | | |
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| arming_lockdown | `bool` | | | |
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| arming_termination_failsafe | `bool` | | | |
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| pwm | `uint16[8]` | | | |
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| pwm_disarmed | `uint16[8]` | | | |
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| pwm_failsafe | `uint16[8]` | | | |
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| pwm_rate_hz | `uint16[8]` | | | |
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| raw_inputs | `uint16[18]` | | | |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Px4ioStatus.msg)
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:::details
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Click here to see original file
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```c
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uint64 timestamp # time since system start (microseconds)
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uint16 free_memory_bytes
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float32 voltage_v # Servo rail voltage in volts
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float32 rssi_v # RSSI pin voltage in volts
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# PX4IO status flags (PX4IO_P_STATUS_FLAGS)
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bool status_arm_sync
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bool status_failsafe
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bool status_fmu_initialized
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bool status_fmu_ok
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bool status_init_ok
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bool status_outputs_armed
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bool status_raw_pwm
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bool status_rc_ok
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bool status_rc_dsm
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bool status_rc_ppm
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bool status_rc_sbus
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bool status_rc_st24
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bool status_rc_sumd
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bool status_safety_button_event # px4io safety button was pressed for longer than 1 second
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# PX4IO alarms (PX4IO_P_STATUS_ALARMS)
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bool alarm_pwm_error
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bool alarm_rc_lost
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# PX4IO arming (PX4IO_P_SETUP_ARMING)
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bool arming_failsafe_custom
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bool arming_fmu_armed
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bool arming_fmu_prearmed
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bool arming_termination
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bool arming_io_arm_ok
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bool arming_lockdown
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bool arming_termination_failsafe
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uint16[8] pwm
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uint16[8] pwm_disarmed
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uint16[8] pwm_failsafe
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uint16[8] pwm_rate_hz
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uint16[18] raw_inputs
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```
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:::
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