EscReport (UORB message)

source file

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
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)

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!