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docs/en/msg_docs/EscStatus.md
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@@ -1,8 +1,40 @@
---
pageClass: is-wide-page
---
# EscStatus (UORB message)
**TOPICS:** esc_status
## Fields
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EscStatus.msg)
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------ | -------------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| counter | `uint16` | | | incremented by the writing thread everytime new data is stored |
| esc_count | `uint8` | | | number of connected ESCs |
| esc_connectiontype | `uint8` | | | how ESCs connected to the system |
| esc_online_flags | `uint8` | | | Bitmask indicating which ESC is online/offline |
| esc_armed_flags | `uint8` | | | Bitmask indicating which ESC is armed. For ESC's where the arming state is not known (returned by the ESC), the arming bits should always be set. |
| esc | `EscReport[8]` | | |
## Constants
| Name | Type | Value | Description |
| ----------------------------------------------------------------------- | ------- | ----- | ----------------------------------------------------------------- |
| <a href="#CONNECTED_ESC_MAX"></a> CONNECTED_ESC_MAX | `uint8` | 8 | The number of ESCs supported. Current (Q2/2013) we support 8 ESCs |
| <a href="#ESC_CONNECTION_TYPE_PPM"></a> ESC_CONNECTION_TYPE_PPM | `uint8` | 0 | Traditional PPM ESC |
| <a href="#ESC_CONNECTION_TYPE_SERIAL"></a> ESC_CONNECTION_TYPE_SERIAL | `uint8` | 1 | Serial Bus connected ESC |
| <a href="#ESC_CONNECTION_TYPE_ONESHOT"></a> ESC_CONNECTION_TYPE_ONESHOT | `uint8` | 2 | One Shot PPM |
| <a href="#ESC_CONNECTION_TYPE_I2C"></a> ESC_CONNECTION_TYPE_I2C | `uint8` | 3 | I2C |
| <a href="#ESC_CONNECTION_TYPE_CAN"></a> ESC_CONNECTION_TYPE_CAN | `uint8` | 4 | CAN-Bus |
| <a href="#ESC_CONNECTION_TYPE_DSHOT"></a> ESC_CONNECTION_TYPE_DSHOT | `uint8` | 5 | DShot |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EscStatus.msg)
::: details Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -33,5 +65,6 @@ uint8 esc_online_flags # Bitmask indicating which ESC is online/offline
uint8 esc_armed_flags # Bitmask indicating which ESC is armed. For ESC's where the arming state is not known (returned by the ESC), the arming bits should always be set.
EscReport[8] esc
```
:::