RcChannels.msg

uint64 timestamp						# time since system start (microseconds)

uint8 FUNCTION_THROTTLE      = 0
uint8 FUNCTION_ROLL          = 1
uint8 FUNCTION_PITCH         = 2
uint8 FUNCTION_YAW           = 3
uint8 FUNCTION_RETURN        = 4
uint8 FUNCTION_LOITER        = 5
uint8 FUNCTION_OFFBOARD      = 6
uint8 FUNCTION_FLAPS         = 7
uint8 FUNCTION_AUX_1         = 8
uint8 FUNCTION_AUX_2         = 9
uint8 FUNCTION_AUX_3         = 10
uint8 FUNCTION_AUX_4         = 11
uint8 FUNCTION_AUX_5         = 12
uint8 FUNCTION_AUX_6         = 13
uint8 FUNCTION_PARAM_1       = 14
uint8 FUNCTION_PARAM_2       = 15
uint8 FUNCTION_PARAM_3_5     = 16
uint8 FUNCTION_KILLSWITCH    = 17
uint8 FUNCTION_TRANSITION    = 18
uint8 FUNCTION_GEAR          = 19
uint8 FUNCTION_ARMSWITCH     = 20
uint8 FUNCTION_FLTBTN_SLOT_1 = 21
uint8 FUNCTION_FLTBTN_SLOT_2 = 22
uint8 FUNCTION_FLTBTN_SLOT_3 = 23
uint8 FUNCTION_FLTBTN_SLOT_4 = 24
uint8 FUNCTION_FLTBTN_SLOT_5 = 25
uint8 FUNCTION_FLTBTN_SLOT_6 = 26
uint8 FUNCTION_ENGAGE_MAIN_MOTOR = 27
uint8 FUNCTION_PAYLOAD_POWER = 28
uint8 FUNCTION_RC_ESTOP = 29

uint8 FUNCTION_FLTBTN_SLOT_COUNT = 6

uint64 timestamp_last_valid					# Timestamp of last valid RC signal
float32[18] channels						# Scaled to -1..1 (throttle: 0..1)
uint8 channel_count						# Number of valid channels
int8[30] function						# Functions mapping
uint8 rssi							# Receive signal strength index
bool signal_lost						# Control signal lost, should be checked together with topic timeout
uint32 frame_drop_count						# Number of dropped frames