EscStatus (UORB message)
TOPICS: esc_status
Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
|---|---|---|---|---|
| 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
Constants
| 명칭 | 형식 | Value | 설명 |
|---|---|---|---|
| CONNECTED_ESC_MAX | uint8 | 12 | The number of ESCs supported (Motor1-Motor12) |
Source Message
Details
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c
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