RC_INPUT module not available for fmuv2

1

hi
The dev documentation mentions that there exists a RC_INPUT module for managing RC receiver input signals.
I have a cube pixhawk 2 which accepts firmware v2 but there is no RC_INPUT module available
I checked the fmuv5 and there exist RC_INPUT.
the question is how to accept msg from RC receiver? what is the Topic name?
or any doc for FMUv2.
thx

2

another question is what is the module name responsible for it?

3

On fmu-v2/v3 the RC input comes from the px4io (a separate microcontroller). On fmuv5 the rc_input driver is available because the px4io is optional (pixhawk 4 vs 4 mini).