SystemPower (UORB message)
TOPICS: system_power
Fields
| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
|---|---|---|---|---|
| timestamp | uint64 | time since system start (microseconds) | ||
| voltage5v_v | float32 | peripheral 5V rail voltage | ||
| voltage_payload_v | float32 | payload rail voltage | ||
| sensors3v3 | float32[4] | Sensors 3V3 rail voltage | ||
| sensors3v3_valid | uint8 | Sensors 3V3 rail voltage was read (bitfield). | ||
| usb_connected | uint8 | USB is connected when 1 | ||
| brick_valid | uint8 | brick bits power is good when bit 1 | ||
| usb_valid | uint8 | USB is valid when 1 | ||
| servo_valid | uint8 | servo power is good when 1 | ||
| periph_5v_oc | uint8 | peripheral overcurrent when 1 | ||
| hipower_5v_oc | uint8 | high power peripheral overcurrent when 1 | ||
| comp_5v_valid | uint8 | 5V to companion valid | ||
| can1_gps1_5v_valid | uint8 | 5V for CAN1/GPS1 valid | ||
| payload_v_valid | uint8 | payload rail voltage is valid |
Constants
Source Message
Details
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c
uint64 timestamp # time since system start (microseconds)
float32 voltage5v_v # peripheral 5V rail voltage
float32 voltage_payload_v # payload rail voltage
float32[4] sensors3v3 # Sensors 3V3 rail voltage
uint8 sensors3v3_valid # Sensors 3V3 rail voltage was read (bitfield).
uint8 usb_connected # USB is connected when 1
uint8 brick_valid # brick bits power is good when bit 1
uint8 usb_valid # USB is valid when 1
uint8 servo_valid # servo power is good when 1
uint8 periph_5v_oc # peripheral overcurrent when 1
uint8 hipower_5v_oc # high power peripheral overcurrent when 1
uint8 comp_5v_valid # 5V to companion valid
uint8 can1_gps1_5v_valid # 5V for CAN1/GPS1 valid
uint8 payload_v_valid # payload rail voltage is valid
uint8 BRICK1_VALID_SHIFTS=0
uint8 BRICK1_VALID_MASK=1
uint8 BRICK2_VALID_SHIFTS=1
uint8 BRICK2_VALID_MASK=2
uint8 BRICK3_VALID_SHIFTS=2
uint8 BRICK3_VALID_MASK=4
uint8 BRICK4_VALID_SHIFTS=3
uint8 BRICK4_VALID_MASK=8