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ESC messages update

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This commit is contained in:
Pavel Kirienko
2014-10-09 10:14:26 +04:00
parent 01d5bb242a
commit 4de0338824
3 changed files with 8 additions and 14 deletions
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dsdl/uavcan/equipment/esc/260.RawCommand.uavcan
+2 -5
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@@ -1,11 +1,8 @@
# #
# Raw ESC command. # Raw ESC command.
# 0 - disarmed, 1+ - armed.
# Direct transition from disarmed state to high thrust should be rejected by the ESC. # 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. # Non-zero setpoint value below minimum should be interpreted as min valid setpoint.
# Negative values indicate reverse rotation.
# #
uint12 CMD_DISARM = 0 int14[<=20] cmd
uint12 CMD_MIN = 1
uint12 CMD_MAX = 4095
uint12[<16] cmd
dsdl/uavcan/equipment/esc/261.RPMCommand.uavcan
+2 -6
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@@ -1,10 +1,6 @@
# #
# Simple RPM setpoint. # Simple RPM setpoint.
# 0 - disarmed, 1+ - armed. # Negative values indicate reverse rotation.
# 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.
# #
uint16 RPM_DISARM = 0 int18[<=20] rpm
uint16 RPM_MIN = 1
uint16[<16] rpm
dsdl/uavcan/equipment/esc/601.Status.uavcan
+4 -3
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@@ -2,13 +2,14 @@
# Generic ESC status. # 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 voltage # Volt, NAN if unknown
float16 current # Ampere, NAN if unknown. Can be negative in case of a regenerative braking. float16 current # Ampere, NAN if unknown. Can be negative in case of a regenerative braking.
float16 temperature # Celsius, NAN if unknown float16 temperature # Celsius, NAN if unknown
int18 rpm # Negative value indicates reverse rotation
uint7 power_rating_pct # Percent of maximum power uint7 power_rating_pct # Percent of maximum power
uint33 error_count # Since the motor started uint5 esc_index