Struct RadioRcChannels 

pub struct RadioRcChannels {
    pub target_system: u8,
    pub target_component: u8,
    pub time_last_update_ms: u32,
    pub flags: RadioRcChannelsFlags,
    pub count: u8,
    pub channels: [i16; 32],
}

MAVLink RADIO_RC_CHANNELS message.

The minimum supported MAVLink version is MAVLink 2.

Description

RC channel outputs from a MAVLink RC receiver for input to a flight controller or other components (allows an RC receiver to connect via MAVLink instead of some other protocol such as PPM-Sum or S.BUS). Note that this is not intended to be an over-the-air format, and does not replace RC_CHANNELS and similar messages reported by the flight controller. The target_system field should normally be set to the system id of the system to control, typically the flight controller. The target_component field can normally be set to 0, so that all components of the system can receive the message. The channels array field can publish up to 32 channels; the number of channel items used in the array is specified in the count field. The time_last_update_ms field contains the timestamp of the last received valid channels data in the receiver’s time domain. The count field indicates the first index of the channel array that is not used for channel data (this and later indexes are zero-filled). The RADIO_RC_CHANNELS_FLAGS_OUTDATED flag is set by the receiver if the channels data is not up-to-date (for example, if new data from the transmitter could not be validated so the last valid data is resent). The RADIO_RC_CHANNELS_FLAGS_FAILSAFE failsafe flag is set by the receiver if the receiver’s failsafe condition is met (implementation dependent, e.g., connection to the RC radio is lost). In this case time_last_update_ms still contains the timestamp of the last valid channels data, but the content of the channels data is not defined by the protocol (it is up to the implementation of the receiver). For instance, the channels data could contain failsafe values configured in the receiver; the default is to carry the last valid data. Note: The RC channels fields are extensions to ensure that they are located at the end of the serialized payload and subject to MAVLink’s trailing-zero trimming.

Encoding/Decoding

Message encoding/decoding are provided by implementing core::convert::TryFrom<Payload> for RadioRcChannels (encoding) and [IntoPayload] (decoding) traits. These traits are implemented by Message proc macro.

Fields

target_system: u8

MAVLink field target_system.

System ID (ID of target system, normally flight controller).

target_component: u8

MAVLink field target_component.

Component ID (normally 0 for broadcast).

time_last_update_ms: u32

MAVLink field time_last_update_ms.

Time when the data in the channels field were last updated (time since boot in the receiver’s time domain).

flags: RadioRcChannelsFlags

MAVLink field flags.

Radio RC channels status flags.

count: u8

MAVLink field count.

Total number of RC channels being received. This can be larger than 32, indicating that more channels are available but not given in this message.

channels: [i16; 32]

MAVLink field channels.

RC channels. Channel values are in centered 13 bit format. Range is -4096 to 4096, center is 0. Conversion to PWM is x * 5/32 + 1500. Channels with indexes equal or above count should be set to 0, to benefit from MAVLink’s trailing-zero trimming.

Implementations

impl RadioRcChannels

pub const ID: u32 = 420

MavLink message ID.

pub const fn spec() -> MessageInfo

Returns specification for this message.

pub const fn message_id() -> u32

Message ID.

pub const fn crc_extra() -> u8

Message CRC_EXTRA.

pub const fn min_supported_mavlink_version() -> MavLinkVersion

Minimum supported MAVLink version for this message.

Trait Implementations

impl Clone for RadioRcChannels

fn clone(&self) -> RadioRcChannels

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for RadioRcChannels

fn fmt(&self, f: &mut Formatter<'_>) -> Result<(), Error>

Formats the value using the given formatter.

impl Default for RadioRcChannels

fn default() -> RadioRcChannels

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for RadioRcChannels

fn deserialize<__D>( __deserializer: __D, ) -> Result<RadioRcChannels, <__D as Deserializer<'de>>::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Flatten for RadioRcChannels

impl From<RadioRcChannels> for Development

fn from(value: RadioRcChannels) -> Development

Converts to this type from the input type.

impl IntoPayload for RadioRcChannels

fn encode(&self, version: MavLinkVersion) -> Result<Payload, SpecError>

Encodes message into MAVLink payload.

impl Message for RadioRcChannels

impl MessageSpec for RadioRcChannels

fn id(&self) -> u32

MAVLink message ID.

fn min_supported_mavlink_version(&self) -> MavLinkVersion

Minimum supported MAVLink protocol version.

fn crc_extra(&self) -> u8

Message EXTRA_CRC calculated from message XML definition.

impl MessageSpecStatic for RadioRcChannels

fn spec() -> MessageInfo

Returns specification for this message.

fn message_id() -> u32

Message ID.

fn crc_extra() -> u8

Message CRC_EXTRA.

fn min_supported_mavlink_version() -> MavLinkVersion

Minimum supported MAVLink version for this message.

impl NamedType for RadioRcChannels

fn sid() -> SpectaID

fn named_data_type( type_map: &mut TypeCollection, generics: &[DataType], ) -> NamedDataType

this is equivalent to Type::inline but returns a NamedDataType instead.

fn definition_named_data_type(type_map: &mut TypeCollection) -> NamedDataType

this is equivalent to [Type::definition] but returns a NamedDataType instead.

impl PartialEq for RadioRcChannels

fn eq(&self, other: &RadioRcChannels) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Serialize for RadioRcChannels

fn serialize<__S>( &self, __serializer: __S, ) -> Result<<__S as Serializer>::Ok, <__S as Serializer>::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl StructuralPartialEq for RadioRcChannels

impl TryFrom<&Payload> for RadioRcChannels

type Error = SpecError

The type returned in the event of a conversion error.

fn try_from( value: &Payload, ) -> Result<RadioRcChannels, <RadioRcChannels as TryFrom<&Payload>>::Error>

Performs the conversion.

impl Type for RadioRcChannels

fn inline(type_map: &mut TypeCollection, generics: Generics<'_>) -> DataType

Returns the definition of a type using the provided generics.

fn reference(type_map: &mut TypeCollection, generics: &[DataType]) -> Reference

Generates a datatype corresponding to a reference to this type, as determined by its category. Getting a reference to a type implies that it should belong in the type map (since it has to be referenced from somewhere), so the output of definition will be put into the type map.