Dev: mavlink interface RC input fixes

ArduPilot · Feb 3, 2025 · 6691498 · 6691498
1 parent 87c4ab0
commit 6691498
Showing 1 changed file with 5 additions and 3 deletions.
diff --git a/dev/source/docs/mavlink-rcinput.rst b/dev/source/docs/mavlink-rcinput.rst
@@ -6,7 +6,7 @@ RC Input (aka Pilot Input)
 
 Traditionally the pilot's manual input via an RC transmitter is sent to the autopilot via a separate wireless link but it can alternatively be sent via MAVLink.  This page describes the messages that can be used and gives advice on some potential issues
 
-For reference here are some user focused RC related wiki pages
+For reference here are some user focused RC related wiki pages:
 
 - :ref:`Joystick/Gamepad setup <copter:common-joystick>`
 - :ref:`RC Input Channel Mapping (aka RCMAP) <copter:common-rcmap>`
@@ -23,9 +23,11 @@ RC_CHANNELS_OVERRIDE
 
 The `RC_CHANNELS_OVERRIDE <https://mavlink.io/en/messages/common.html#RC_CHANNELS_OVERRIDE>`__ message allows setting the PWM equivalent value for each channel.
 This is normally a value between 1000 and 2000 but ArduPilot's RC input library uses the RCx_MIN, RCx_MAX and RCx_TRIM parameters to scale the input.  Note though that these parameters are normally set by the user during the RC Calibration stage.
-If both a regular transmitter (e.g. Futaba, Spektrum, etc) which sends actualy PWM values and a MAVLink enabled RC input system (sending messages via one of the message listed on this page) then care should be taken to ensure the RCx_MIN/MAX ranges are consistent between the two systems
 
-Becareful of inadvertantly changing the flight mode.  By default either channel 5 or channel 8 (depending upon the vehicle type) is used to set the flight mode but this can be disabled by setting :ref:`FLTMODE_CH <copter:FLTMODE_CH>` or :ref:`MODE_CH <rover:MODE_CH>` to 0
+If both a regular transmitter (e.g. Futaba, Spektrum, etc) which sends actualy PWM values and a MAVLink enabled RC input system (sending messages via one of the message listed on this page) then care should be taken to ensure the RCx_MIN/MAX ranges are consistent between the two systems.
+If the MAVLink RC input stops, ArduPilot falls back to regular RC input within a few seconds.  This timeout is configurable using the :ref:`RC_OVERRIDE_TIME <copter:RC_OVERRIDE_TIME>` parameter.
+
+Be careful not to change the flight mode inadvertently.  By default either channel 5 or channel 8 (depending upon the vehicle type) is used to set the flight mode but this can be disabled by setting :ref:`FLTMODE_CH <copter:FLTMODE_CH>` or :ref:`MODE_CH <rover:MODE_CH>` to 0
 
 .. raw:: html