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Improve logging for Modal IO ESC (#21188)

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- always publish esc_status
 - when enabled via MODAL_IO_VLOG param, enable actuator debug output

 - for modal_io commands, use ESC HW ID values instead of motor number for easier use
 - publish esc_status message for command line commands

 - Uncommented the code that fills in the cmdcount and power fields in the esc_status topic

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Co-authored-by: Travis Bottalico <travis@modalai.com>
This commit is contained in:
Eric Katzfey
2023-03-06 06:51:22 -08:00
committed by GitHub
parent daa302cdbe
commit 5cade89499
5 changed files with 64 additions and 89 deletions
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msg/EscReport.msg
+2
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@@ -5,12 +5,14 @@ float32 esc_voltage # Voltage measured from current ESC [V] - if supported
float32 esc_current # Current measured from current ESC [A] - if supported
float32 esc_temperature # Temperature measured from current ESC [degC] - if supported
uint8 esc_address # Address of current ESC (in most cases 1-8 / must be set by driver)
uint8 esc_cmdcount # Counter of number of commands
uint8 esc_state # State of ESC - depend on Vendor
uint8 actuator_function # actuator output function (one of Motor1...MotorN)
uint16 failures # Bitmask to indicate the internal ESC faults
int8 esc_power # Applied power 0-100 in % (negative values reserved)
uint8 FAILURE_OVER_CURRENT = 0 # (1 << 0)
uint8 FAILURE_OVER_VOLTAGE = 1 # (1 << 1)