RC_Status and mavlink remote health

[aminballoon]

MAVSDK RcStatus will return is_available = False while autopilot has can't be armed

PX4 manualControlCheck.cpp

In this case if Kill switch engaged RCStatus::is_available will be False* by this Flag

RC_OK Flag check const bool rc_ok = sys_status.onboard_control_sensors_health & MAV_SYS_STATUS_SENSOR_RC_RECEIVER;

In my opinion, when the kill switch is engaged, it doesn't mean that the RC is not available; it's available, but it just can't be armed.

The rc_ok Flag should not be check only MAV_SYS_STATUS_SENSOR_RC_RECEIVER or I need to contribute manualControlCheck in PX4 .

I can add proto Mavlink RC_CHANNELS_RAW for check the latest RC input by Timestamp and solve this issue.
What do you think about this issue and my solution ?

[julianoes]

Interesting. I would argue this needs changing/fixing on the PX4 side.