forked from Archive/PX4-Autopilot
21 lines
1.1 KiB
Plaintext
21 lines
1.1 KiB
Plaintext
uint64 timestamp # time since system start (microseconds)
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uint32 esc_errorcount # Number of reported errors by ESC - if supported
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int32 esc_rpm # Motor RPM, negative for reverse rotation [RPM] - if supported
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float32 esc_voltage # Voltage measured from current ESC [V] - if supported
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float32 esc_current # Current measured from current ESC [A] - if supported
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uint8 esc_temperature # Temperature measured from current ESC [degC] - if supported
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uint8 esc_address # Address of current ESC (in most cases 1-8 / must be set by driver)
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uint8 esc_state # State of ESC - depend on Vendor
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uint8 failures # Bitmask to indicate the internal ESC faults
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uint8 FAILURE_NONE = 0
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uint8 FAILURE_OVER_CURRENT_MASK = 1 # (1 << 0)
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uint8 FAILURE_OVER_VOLTAGE_MASK = 2 # (1 << 1)
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uint8 FAILURE_OVER_TEMPERATURE_MASK = 4 # (1 << 2)
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uint8 FAILURE_OVER_RPM_MASK = 8 # (1 << 3)
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uint8 FAILURE_INCONSISTENT_CMD_MASK = 16 # (1 << 4) Set if ESC received an inconsistent command (i.e out of boundaries)
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uint8 FAILURE_MOTOR_STUCK_MASK = 32 # (1 << 5)
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uint8 FAILURE_GENERIC_MASK = 64 # (1 << 6)
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