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111 lines
8.3 KiB
Markdown
111 lines
8.3 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# RcChannels (UORB message)
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**TOPICS:** rc_channels
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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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| timestamp_last_valid | `uint64` | | | Timestamp of last valid RC signal |
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| channels | `float32[18]` | | | Scaled to -1..1 (throttle: 0..1) |
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| channel_count | `uint8` | | | Number of valid channels |
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| function | `int8[30]` | | | Functions mapping |
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| rssi | `uint8` | | | Receive signal strength index |
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| signal_lost | `bool` | | | Control signal lost, should be checked together with topic timeout |
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| frame_drop_count | `uint32` | | | Number of dropped frames |
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## Constants
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| 명칭 | 형식 | Value | 설명 |
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| ---------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | -- |
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| <a id="#FUNCTION_THROTTLE"></a> FUNCTION_THROTTLE | `uint8` | 0 | |
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| <a id="#FUNCTION_ROLL"></a> FUNCTION_ROLL | `uint8` | 1 | |
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| <a id="#FUNCTION_PITCH"></a> FUNCTION_PITCH | `uint8` | 2 | |
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| <a id="#FUNCTION_YAW"></a> FUNCTION_YAW | `uint8` | 3 | |
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| <a id="#FUNCTION_RETURN"></a> FUNCTION_RETURN | `uint8` | 4 | |
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| <a id="#FUNCTION_LOITER"></a> FUNCTION_LOITER | `uint8` | 5 | |
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| <a id="#FUNCTION_OFFBOARD"></a> FUNCTION_OFFBOARD | `uint8` | 6 | |
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| <a id="#FUNCTION_FLAPS"></a> FUNCTION_FLAPS | `uint8` | 7 | |
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| <a id="#FUNCTION_AUX_1"></a> FUNCTION_AUX_1 | `uint8` | 8 | |
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| <a id="#FUNCTION_AUX_2"></a> FUNCTION_AUX_2 | `uint8` | 9 | |
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| <a id="#FUNCTION_AUX_3"></a> FUNCTION_AUX_3 | `uint8` | 10 | |
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| <a id="#FUNCTION_AUX_4"></a> FUNCTION_AUX_4 | `uint8` | 11 | |
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| <a id="#FUNCTION_AUX_5"></a> FUNCTION_AUX_5 | `uint8` | 12 | |
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| <a id="#FUNCTION_AUX_6"></a> FUNCTION_AUX_6 | `uint8` | 13 | |
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| <a id="#FUNCTION_PARAM_1"></a> FUNCTION_PARAM_1 | `uint8` | 14 | |
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| <a id="#FUNCTION_PARAM_2"></a> FUNCTION_PARAM_2 | `uint8` | 15 | |
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| <a id="#FUNCTION_PARAM_3_5"></a> FUNCTION_PARAM_3_5 | `uint8` | 16 | |
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| <a id="#FUNCTION_KILLSWITCH"></a> FUNCTION_KILLSWITCH | `uint8` | 17 | |
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| <a id="#FUNCTION_TRANSITION"></a> FUNCTION_TRANSITION | `uint8` | 18 | |
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| <a id="#FUNCTION_GEAR"></a> FUNCTION_GEAR | `uint8` | 19 | |
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| <a id="#FUNCTION_ARMSWITCH"></a> FUNCTION_ARMSWITCH | `uint8` | 20 | |
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| <a id="#FUNCTION_FLTBTN_SLOT_1"></a> FUNCTION_FLTBTN_SLOT_1 | `uint8` | 21 | |
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| <a id="#FUNCTION_FLTBTN_SLOT_2"></a> FUNCTION_FLTBTN_SLOT_2 | `uint8` | 22 | |
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| <a id="#FUNCTION_FLTBTN_SLOT_3"></a> FUNCTION_FLTBTN_SLOT_3 | `uint8` | 23 | |
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| <a id="#FUNCTION_FLTBTN_SLOT_4"></a> FUNCTION_FLTBTN_SLOT_4 | `uint8` | 24 | |
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| <a id="#FUNCTION_FLTBTN_SLOT_5"></a> FUNCTION_FLTBTN_SLOT_5 | `uint8` | 25 | |
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| <a id="#FUNCTION_FLTBTN_SLOT_6"></a> FUNCTION_FLTBTN_SLOT_6 | `uint8` | 26 | |
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| <a id="#FUNCTION_ENGAGE_MAIN_MOTOR"></a> FUNCTION_ENGAGE_MAIN_MOTOR | `uint8` | 27 | |
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| <a id="#FUNCTION_PAYLOAD_POWER"></a> FUNCTION_PAYLOAD_POWER | `uint8` | 28 | |
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| <a id="#FUNCTION_TERMINATION"></a> FUNCTION_TERMINATION | `uint8` | 29 | |
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| <a id="#FUNCTION_FLTBTN_SLOT_COUNT"></a> FUNCTION_FLTBTN_SLOT_COUNT | `uint8` | 6 | |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RcChannels.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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uint8 FUNCTION_THROTTLE = 0
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uint8 FUNCTION_ROLL = 1
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uint8 FUNCTION_PITCH = 2
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uint8 FUNCTION_YAW = 3
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uint8 FUNCTION_RETURN = 4
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uint8 FUNCTION_LOITER = 5
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uint8 FUNCTION_OFFBOARD = 6
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uint8 FUNCTION_FLAPS = 7
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uint8 FUNCTION_AUX_1 = 8
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uint8 FUNCTION_AUX_2 = 9
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uint8 FUNCTION_AUX_3 = 10
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uint8 FUNCTION_AUX_4 = 11
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uint8 FUNCTION_AUX_5 = 12
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uint8 FUNCTION_AUX_6 = 13
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uint8 FUNCTION_PARAM_1 = 14
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uint8 FUNCTION_PARAM_2 = 15
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uint8 FUNCTION_PARAM_3_5 = 16
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uint8 FUNCTION_KILLSWITCH = 17
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uint8 FUNCTION_TRANSITION = 18
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uint8 FUNCTION_GEAR = 19
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uint8 FUNCTION_ARMSWITCH = 20
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uint8 FUNCTION_FLTBTN_SLOT_1 = 21
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uint8 FUNCTION_FLTBTN_SLOT_2 = 22
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uint8 FUNCTION_FLTBTN_SLOT_3 = 23
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uint8 FUNCTION_FLTBTN_SLOT_4 = 24
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uint8 FUNCTION_FLTBTN_SLOT_5 = 25
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uint8 FUNCTION_FLTBTN_SLOT_6 = 26
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uint8 FUNCTION_ENGAGE_MAIN_MOTOR = 27
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uint8 FUNCTION_PAYLOAD_POWER = 28
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uint8 FUNCTION_TERMINATION = 29
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uint8 FUNCTION_FLTBTN_SLOT_COUNT = 6
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uint64 timestamp_last_valid # Timestamp of last valid RC signal
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float32[18] channels # Scaled to -1..1 (throttle: 0..1)
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uint8 channel_count # Number of valid channels
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int8[30] function # Functions mapping
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uint8 rssi # Receive signal strength index
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bool signal_lost # Control signal lost, should be checked together with topic timeout
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uint32 frame_drop_count # Number of dropped frames
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```
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:::
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