ESC messages update

dsdl/uavcan/equipment/esc/260.RawCommand.uavcan

@@ -1,11 +1,8 @@
 #
 # Raw ESC command.
-# 0 - disarmed, 1+ - armed.
 # Direct transition from disarmed state to high thrust should be rejected by the ESC.
 # Non-zero setpoint value below minimum should be interpreted as min valid setpoint.
+# Negative values indicate reverse rotation.
 #
 
-uint12 CMD_DISARM = 0
-uint12 CMD_MIN    = 1
-uint12 CMD_MAX    = 4095
-uint12[<16] cmd
+int14[<=20] cmd

dsdl/uavcan/equipment/esc/261.RPMCommand.uavcan

@@ -1,10 +1,6 @@
 #
 # Simple RPM setpoint.
-# 0 - disarmed, 1+ - armed.
-# Direct transition from disarmed state to high thrust should be rejected by the ESC.
-# Non-zero setpoint value below minimum should be interpreted as min valid setpoint.
+# Negative values indicate reverse rotation.
 #
 
-uint16 RPM_DISARM = 0
-uint16 RPM_MIN    = 1
-uint16[<16] rpm
+int18[<=20] rpm

dsdl/uavcan/equipment/esc/601.Status.uavcan

@@ -2,13 +2,14 @@
 # Generic ESC status.
 #
 
-uint4 index
+uint32 error_count          # Since the motor started; normally should not overflow
 
-uint16 rpm
 float16 voltage             # Volt, NAN if unknown
 float16 current             # Ampere, NAN if unknown. Can be negative in case of a regenerative braking.
 float16 temperature         # Celsius, NAN if unknown
 
+int18 rpm                   # Negative value indicates reverse rotation
+
 uint7 power_rating_pct      # Percent of maximum power
 
-uint33 error_count          # Since the motor started
+uint5 esc_index