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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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7e75b497ae
For helicopters it's useful (e.g. during bringup) to be able to disable the main rotor while the tail is still controlled to safely land.
41 lines
1.4 KiB
Plaintext
41 lines
1.4 KiB
Plaintext
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_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[28] 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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