mirror of
https://github.com/PX4/PX4-Autopilot.git
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efbc9e64a4
* mavlink: esc: fix ESC_STATUS and ESC_INFO message emission. Fixes mavlink messages emission for ESC messages. Actuator --> MotorNumber mapping was not respected, the mavlink messages should be reporting the ESC status in motor number order not actuator order. * Update src/modules/mavlink/streams/ESC_STATUS.hpp Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Update src/modules/mavlink/streams/ESC_INFO.hpp Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * remove dependency on mixer_module/output_functions.hpp * add actuator function definitions to EscReport.msg * clean up * add missing header --------- Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
41 lines
1.9 KiB
Plaintext
41 lines
1.9 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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float32 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_cmdcount # Counter of number of commands
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uint8 esc_state # State of ESC - depend on Vendor
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uint8 actuator_function # actuator output function (one of Motor1...MotorN)
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uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
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uint8 ACTUATOR_FUNCTION_MOTOR2 = 102
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uint8 ACTUATOR_FUNCTION_MOTOR3 = 103
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uint8 ACTUATOR_FUNCTION_MOTOR4 = 104
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uint8 ACTUATOR_FUNCTION_MOTOR5 = 105
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uint8 ACTUATOR_FUNCTION_MOTOR6 = 106
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uint8 ACTUATOR_FUNCTION_MOTOR7 = 107
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uint8 ACTUATOR_FUNCTION_MOTOR8 = 108
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uint8 ACTUATOR_FUNCTION_MOTOR9 = 109
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uint8 ACTUATOR_FUNCTION_MOTOR10 = 110
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uint8 ACTUATOR_FUNCTION_MOTOR11 = 111
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uint8 ACTUATOR_FUNCTION_MOTOR12 = 112
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uint16 failures # Bitmask to indicate the internal ESC faults
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int8 esc_power # Applied power 0-100 in % (negative values reserved)
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uint8 FAILURE_OVER_CURRENT = 0 # (1 << 0)
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uint8 FAILURE_OVER_VOLTAGE = 1 # (1 << 1)
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uint8 FAILURE_MOTOR_OVER_TEMPERATURE = 2 # (1 << 2)
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uint8 FAILURE_OVER_RPM = 3 # (1 << 3)
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uint8 FAILURE_INCONSISTENT_CMD = 4 # (1 << 4) Set if ESC received an inconsistent command (i.e out of boundaries)
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uint8 FAILURE_MOTOR_STUCK = 5 # (1 << 5)
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uint8 FAILURE_GENERIC = 6 # (1 << 6)
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uint8 FAILURE_MOTOR_WARN_TEMPERATURE = 7 # (1 << 7)
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uint8 FAILURE_WARN_ESC_TEMPERATURE = 8 # (1 << 8)
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uint8 FAILURE_OVER_ESC_TEMPERATURE = 9 # (1 << 9)
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uint8 ESC_FAILURE_COUNT = 10 # Counter - keep it as last element!
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