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	Bitmask to indicate the internal ESC faults
esc_power	int8	%	[0 : 100]	Applied power (negative values reserved)

Enums

FAILURE

Name	Type	Value	Description
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)

Constants

Name	Type	Value	Description
ACTUATOR_FUNCTION_MOTOR1	uint8	101
ACTUATOR_FUNCTION_MOTOR_MAX	uint8	112	output_functions.yaml Motor.start + Motor.count - 1
ESC_FAILURE_COUNT	uint8	10	Counter - keep it as last element!

Source Message

Source file (GitHub)

Click here to see original file

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!