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Co-Authored-By: PX4 BuildBot <bot@px4.io>

2026-03-18 00:46:16 +00:00

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pageClass

pageClass
is-wide-page

EscStatus (UORB message)

TOPICS: esc_status

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	`uint64`	us		Time since system start
counter	`uint16`			Incremented by the writing thread everytime new data is stored
esc_count	`uint8`			Number of connected ESCs
esc_connectiontype	`uint8`		ESC_CONNECTION_TYPE	How ESCs connected to the system
esc_online_flags	`uint16`			Bitmask indicating which ESC is online/offline (in motor order)
esc_armed_flags	`uint16`			Bitmask indicating which ESC is armed (in motor order)
esc	`EscReport[12]`

Enums

ESC_CONNECTION_TYPE

Name	Type	Value	Description
ESC_CONNECTION_TYPE_PPM	`uint8`	0	Traditional PPM ESC
ESC_CONNECTION_TYPE_SERIAL	`uint8`	1	Serial Bus connected ESC
ESC_CONNECTION_TYPE_ONESHOT	`uint8`	2	One Shot PPM
ESC_CONNECTION_TYPE_I2C	`uint8`	3	I2C
ESC_CONNECTION_TYPE_CAN	`uint8`	4	CAN-Bus
ESC_CONNECTION_TYPE_DSHOT	`uint8`	5	DShot

Constants

Name	Type	Value	Description
CONNECTED_ESC_MAX	`uint8`	12	The number of ESCs supported (Motor1-Motor12)

Source Message

Source file (GitHub)

::: details Click here to see original file

uint64 timestamp # [us] Time since system start
uint8 CONNECTED_ESC_MAX = 12 # The number of ESCs supported (Motor1-Motor12)

uint8 ESC_CONNECTION_TYPE_PPM = 0 # Traditional PPM ESC
uint8 ESC_CONNECTION_TYPE_SERIAL = 1 # Serial Bus connected ESC
uint8 ESC_CONNECTION_TYPE_ONESHOT = 2 # One Shot PPM
uint8 ESC_CONNECTION_TYPE_I2C = 3 # I2C
uint8 ESC_CONNECTION_TYPE_CAN = 4 # CAN-Bus
uint8 ESC_CONNECTION_TYPE_DSHOT = 5 # DShot

uint16 counter # [-] Incremented by the writing thread everytime new data is stored

uint8 esc_count # [-] Number of connected ESCs
uint8 esc_connectiontype # [@enum ESC_CONNECTION_TYPE] How ESCs connected to the system

uint16 esc_online_flags               # Bitmask indicating which ESC is online/offline (in motor order)
# esc_online_flags bit 0 : Set to 1 if Motor1 is online
# esc_online_flags bit 1 : Set to 1 if Motor2 is online
# esc_online_flags bit 2 : Set to 1 if Motor3 is online
# esc_online_flags bit 3 : Set to 1 if Motor4 is online
# esc_online_flags bit 4 : Set to 1 if Motor5 is online
# esc_online_flags bit 5 : Set to 1 if Motor6 is online
# esc_online_flags bit 6 : Set to 1 if Motor7 is online
# esc_online_flags bit 7 : Set to 1 if Motor8 is online
# esc_online_flags bit 8 : Set to 1 if Motor9 is online
# esc_online_flags bit 9 : Set to 1 if Motor10 is online
# esc_online_flags bit 10: Set to 1 if Motor11 is online
# esc_online_flags bit 11: Set to 1 if Motor12 is online

uint16 esc_armed_flags # [-] Bitmask indicating which ESC is armed (in motor order)

EscReport[12] esc

:::

4.5 KiB Raw Blame History