PX4-Autopilot/docs/en/msg_docs/EscReport.md

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EscReport (UORB message)

TOPICS: esc_report

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64			time since system start (microseconds)
esc_errorcount	uint32			Number of reported errors by ESC - if supported
esc_rpm	int32			Motor RPM, negative for reverse rotation [RPM] - if supported
esc_voltage	float32			Voltage measured from current ESC [V] - if supported
esc_current	float32			Current measured from current ESC [A] - if supported
esc_temperature	float32			Temperature measured from current ESC [degC] - if supported
motor_temperature	int16			Temperature measured from current motor [degC] - if supported
esc_address	uint8			Address of current ESC (in most cases 1-8 / must be set by driver)
esc_cmdcount	uint8			Counter of number of commands
esc_state	uint8			State of ESC - depend on Vendor
actuator_function	uint8			actuator output function (one of Motor1...MotorN)
failures	uint16			Bitmask to indicate the internal ESC faults
esc_power	int8			Applied power 0-100 in % (negative values reserved)

Constants

Name	Type	Value	Description
ACTUATOR_FUNCTION_MOTOR1	uint8	101
ACTUATOR_FUNCTION_MOTOR2	uint8	102
ACTUATOR_FUNCTION_MOTOR3	uint8	103
ACTUATOR_FUNCTION_MOTOR4	uint8	104
ACTUATOR_FUNCTION_MOTOR5	uint8	105
ACTUATOR_FUNCTION_MOTOR6	uint8	106
ACTUATOR_FUNCTION_MOTOR7	uint8	107
ACTUATOR_FUNCTION_MOTOR8	uint8	108
ACTUATOR_FUNCTION_MOTOR9	uint8	109
ACTUATOR_FUNCTION_MOTOR10	uint8	110
ACTUATOR_FUNCTION_MOTOR11	uint8	111
ACTUATOR_FUNCTION_MOTOR12	uint8	112
FAILURE_OVER_CURRENT	uint8	0	(1 << 0)
FAILURE_OVER_VOLTAGE	uint8	1	(1 << 1)
FAILURE_MOTOR_OVER_TEMPERATURE	uint8	2	(1 << 2)
FAILURE_OVER_RPM	uint8	3	(1 << 3)
FAILURE_INCONSISTENT_CMD	uint8	4	(1 << 4) Set if ESC received an inconsistent command (i.e out of boundaries)
FAILURE_MOTOR_STUCK	uint8	5	(1 << 5)
FAILURE_GENERIC	uint8	6	(1 << 6)
FAILURE_MOTOR_WARN_TEMPERATURE	uint8	7	(1 << 7)
FAILURE_WARN_ESC_TEMPERATURE	uint8	8	(1 << 8)
FAILURE_OVER_ESC_TEMPERATURE	uint8	9	(1 << 9)
ESC_FAILURE_COUNT	uint8	10	Counter - keep it as last element!

Source Message

Source file (GitHub)

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uint64 timestamp					# time since system start (microseconds)
uint32 esc_errorcount					# Number of reported errors by ESC - if supported
int32 esc_rpm						# Motor RPM, negative for reverse rotation [RPM] - if supported
float32 esc_voltage					# Voltage measured from current ESC [V] - if supported
float32 esc_current					# Current measured from current ESC [A] - if supported
float32 esc_temperature					# Temperature measured from current ESC [degC] - if supported
int16 motor_temperature 				# Temperature measured from current motor [degC] - if supported
uint8 esc_address					# Address of current ESC (in most cases 1-8 / must be set by driver)
uint8 esc_cmdcount					# Counter of number of commands

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_MOTOR2 = 102
uint8 ACTUATOR_FUNCTION_MOTOR3 = 103
uint8 ACTUATOR_FUNCTION_MOTOR4 = 104
uint8 ACTUATOR_FUNCTION_MOTOR5 = 105
uint8 ACTUATOR_FUNCTION_MOTOR6 = 106
uint8 ACTUATOR_FUNCTION_MOTOR7 = 107
uint8 ACTUATOR_FUNCTION_MOTOR8 = 108
uint8 ACTUATOR_FUNCTION_MOTOR9 = 109
uint8 ACTUATOR_FUNCTION_MOTOR10 = 110
uint8 ACTUATOR_FUNCTION_MOTOR11 = 111
uint8 ACTUATOR_FUNCTION_MOTOR12 = 112

uint16 failures					# Bitmask to indicate the internal ESC faults
int8 esc_power					# Applied power 0-100 in % (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!

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