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Radio Control Transmitter

Read input_rc uORB topic to obtain data from Radio Control Transmitter

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  • Radio Control Transmitter block

Libraries:
UAV Toolbox Support Package for PX4 Autopilots / PX4 Sensor Blocks

Description

The Radio Control Transmitter block reads the input_rc uORB topic to obtain the signals sent from a Radio Control Transmitter at the specified channels.

During Normal mode simulation, the block outputs zeroes.

During Connected I/O simulation, this block reads data from the peripherals of the hardware.

Ports

Output

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Pulse width values obtained from the selected channels of the Radio Control Transmitter. Connect these output values to the flight control logic in the Simulink model.

Data Types: uint16

The count of channels that are actually being seen based on the communication with the Radio Control Transmitter

Dependencies

This output appears only if you have selected the Number of channels actually being seen parameter.

Data Types: uint32

RSSI (Receive Signal Strength Indicator ) value obtained from the Radio Control Transmitter.

The value is negative for an undefined signal, 0 for no signal, and positive for full reception.

Dependencies

This output appears only if you have selected the Receive Signal Strength Indicator (RSSI) parameter.

Data Types: int32

Identify the input source of RC communication. The value ranges from 0 to 13 (these correspond to the same values as mentioned in the input_rc.msg file in Firmare/msg directory).

Dependencies

This output appears only if you have selected the Radio control input source parameter.

Data Types: uint8

Timestamp of the last valid reception from the Radio Control Transmitter.

Dependencies

This output appears only if you have selected the Last valid reception time parameter.

Data Types: uint64

Current timestamp of the value received from the Radio Control Transmitter.

Dependencies

This output appears only if you have selected the Timestamp parameter.

Data Types: double

The Status output indicates if the data was received during a previous time step or not. A value of 0 indicates that the data at the Ch output is the latest and the communication with the Radio Control Transmitter is valid.

A value between 1 and 7 indicates the following:

  • No value was read by the uORB topic during the current time step

  • Communication loss with Radio Control Transmitter

  • Radio Control Transmitter went to failsafe mode

This output can be used to trigger subsystems for processing the new data received from the RC Transmitter.

Data Types: uint8

Parameters

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Main tab

Select the channels from which you want to receive values, as read from the Radio Control Transmitter. The Ch outputs of the block appear based on the selection in this parameter list.

Select this option to obtain the count of channels that are actually being seen based on the communication with the Radio Control Transmitter.

Select this option to obtain the RSSI value as received from the Radio Control Transmitter

Select this option to identify the input source of RC communication.

Select this option to obtain the timestamp of the last valid reception from the Radio Control Transmitter.

Select this option to obtain the current timestamp of the channel value from the Radio Control Transmitter.

Enter the time interval at which the block reads values from the RC Transmitter.

When you set this parameter to -1, Simulink® determines the best sample time for the block based on the block context within the model.

Advanced tab

  • When you select this option, the read operation runs in Blocking Mode. The read operation is blocked while waiting for the requested data to be available.

    A task overrun occurs if the target hardware is still waiting for the data to be available when the next read operation is scheduled to begin.

    To fix overruns, increase the time step by using the Sample time parameter.

  • When you clear this option, the read operation runs in Non-Blocking Mode. In this mode, the block does not wait for the requested data to be available.

Specify the amount of time that the block waits for the data during each time step, if the Wait until data received parameter is selected. If timeout occurs, the read operation is aborted.

Dependencies

This parameter appears only when you select the Wait until data received parameter.

Version History

Introduced in R2018b