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# EscReport (UORB message)

**TOPICS:** esc_report

## Fields

| Name              | Type      | Unit [Frame] | Range/Enum          | Description                                             |
| ----------------- | --------- | ------------ | ------------------- | ------------------------------------------------------- |
| timestamp         | `uint64`  | us           |                     | Time since system start                                 |
| esc_errorcount    | `uint32`  |              |                     | Number of reported errors by ESC - if supported         |
| esc_rpm           | `int32`   | rpm          |                     | Motor RPM, negative for reverse rotation - if supported |
| esc_voltage       | `float32` | V            |                     | Voltage measured from current ESC - if supported        |
| esc_current       | `float32` | A            |                     | Current measured from current ESC - if supported        |
| esc_temperature   | `float32` | degC         |                     | Temperature measured from current ESC - if supported    |
| motor_temperature | `int16`   | degC         |                     | Temperature measured from current motor - if supported  |
| esc_state         | `uint8`   |              |                     | State of ESC - depend on Vendor                         |
| actuator_function | `uint8`   |              |                     | Actuator output function (one of Motor1...MotorN)       |
| failures          | `uint16`  |              | [FAILURE](#FAILURE) | Bitmask to indicate the internal ESC faults             |
| esc_power         | `int8`    | %            | [0 : 100]           | Applied power (negative values reserved)                |

## Enums

### FAILURE {#FAILURE}

| Name                                                                        | Type    | Value | Description                                                                  |
| --------------------------------------------------------------------------- | ------- | ----- | ---------------------------------------------------------------------------- |
| <a id="#FAILURE_OVER_CURRENT"></a> FAILURE_OVER_CURRENT                     | `uint8` | 0     | (1 << 0)                                                                     |
| <a id="#FAILURE_OVER_VOLTAGE"></a> FAILURE_OVER_VOLTAGE                     | `uint8` | 1     | (1 << 1)                                                                     |
| <a id="#FAILURE_MOTOR_OVER_TEMPERATURE"></a> FAILURE_MOTOR_OVER_TEMPERATURE | `uint8` | 2     | (1 << 2)                                                                     |
| <a id="#FAILURE_OVER_RPM"></a> FAILURE_OVER_RPM                             | `uint8` | 3     | (1 << 3)                                                                     |
| <a id="#FAILURE_INCONSISTENT_CMD"></a> FAILURE_INCONSISTENT_CMD             | `uint8` | 4     | (1 << 4) Set if ESC received an inconsistent command (i.e out of boundaries) |
| <a id="#FAILURE_MOTOR_STUCK"></a> FAILURE_MOTOR_STUCK                       | `uint8` | 5     | (1 << 5)                                                                     |
| <a id="#FAILURE_GENERIC"></a> FAILURE_GENERIC                               | `uint8` | 6     | (1 << 6)                                                                     |
| <a id="#FAILURE_MOTOR_WARN_TEMPERATURE"></a> FAILURE_MOTOR_WARN_TEMPERATURE | `uint8` | 7     | (1 << 7)                                                                     |
| <a id="#FAILURE_WARN_ESC_TEMPERATURE"></a> FAILURE_WARN_ESC_TEMPERATURE     | `uint8` | 8     | (1 << 8)                                                                     |
| <a id="#FAILURE_OVER_ESC_TEMPERATURE"></a> FAILURE_OVER_ESC_TEMPERATURE     | `uint8` | 9     | (1 << 9)                                                                     |

## Constants

| Name                                                                  | Type    | Value | Description                                         |
| --------------------------------------------------------------------- | ------- | ----- | --------------------------------------------------- |
| <a id="#ACTUATOR_FUNCTION_MOTOR1"></a> ACTUATOR_FUNCTION_MOTOR1       | `uint8` | 101   |
| <a id="#ACTUATOR_FUNCTION_MOTOR_MAX"></a> ACTUATOR_FUNCTION_MOTOR_MAX | `uint8` | 112   | output_functions.yaml Motor.start + Motor.count - 1 |
| <a id="#ESC_FAILURE_COUNT"></a> ESC_FAILURE_COUNT                     | `uint8` | 10    | Counter - keep it as last element!                  |

## Source Message

[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EscReport.msg)

::: details Click here to see original file

```c
uint64 timestamp # [us] Time since system start

uint32 esc_errorcount # [-] Number of reported errors by ESC - if supported
int32 esc_rpm # [rpm] Motor RPM, negative for reverse rotation - if supported
float32 esc_voltage # [V] Voltage measured from current ESC - if supported
float32 esc_current # [A] Current measured from current ESC - if supported
float32 esc_temperature # [degC] Temperature measured from current ESC - if supported
int16 motor_temperature # [degC] Temperature measured from current motor - if supported

uint8 esc_state # [-] State of ESC - depend on Vendor

uint8 actuator_function # [-] Actuator output function (one of Motor1...MotorN)

uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
uint8 ACTUATOR_FUNCTION_MOTOR_MAX = 112 # output_functions.yaml Motor.start + Motor.count - 1

uint16 failures # [@enum FAILURE] Bitmask to indicate the internal ESC faults
int8 esc_power # [%] [@range 0,100] Applied power (negative values reserved)

uint8 FAILURE_OVER_CURRENT = 0 # (1 << 0)
uint8 FAILURE_OVER_VOLTAGE = 1 # (1 << 1)
uint8 FAILURE_MOTOR_OVER_TEMPERATURE = 2 # (1 << 2)
uint8 FAILURE_OVER_RPM = 3 # (1 << 3)
uint8 FAILURE_INCONSISTENT_CMD = 4 # (1 << 4) Set if ESC received an inconsistent command (i.e out of boundaries)
uint8 FAILURE_MOTOR_STUCK = 5 # (1 << 5)
uint8 FAILURE_GENERIC = 6 # (1 << 6)
uint8 FAILURE_MOTOR_WARN_TEMPERATURE = 7 # (1 << 7)
uint8 FAILURE_WARN_ESC_TEMPERATURE = 8 # (1 << 8)
uint8 FAILURE_OVER_ESC_TEMPERATURE = 9 # (1 << 9)
uint8 ESC_FAILURE_COUNT = 10 # Counter - keep it as last element!
```

:::