refactor(msg): remove esc_address from EscReport

msg/EscReport.msg

@@ -5,7 +5,6 @@ int32 esc_rpm # [rpm] Motor RPM, negative for reverse rotation - if supported
 float32 esc_voltage # [V] Voltage measured from current ESC - if supported
 float32 esc_current # [A] Current measured from current ESC - if supported
 float32 esc_temperature # [degC] Temperature measured from current ESC - if supported
-uint8 esc_address # [-] Address of current ESC (in most cases 1-12 / must be set by driver)
 int16 motor_temperature # [degC] Temperature measured from current motor - if supported
 
 uint8 esc_state # [-] State of ESC - depend on Vendor

src/drivers/actuators/vertiq_io/vertiq_telemetry_manager.cpp

@@ -80,7 +80,6 @@ void VertiqTelemetryManager::StartPublishing(uORB::Publication<esc_status_s> *es
 
 	for (unsigned i = 0; i < _number_of_module_ids_for_telem; i++) {
 		_esc_status.esc[i].timestamp       = 0;
-		_esc_status.esc[i].esc_address     = 0;
 		_esc_status.esc[i].esc_rpm         = 0;
 		_esc_status.esc[i].esc_state       = 0;
 		_esc_status.esc[i].esc_voltage     = 0;
@@ -111,7 +110,6 @@ uint16_t VertiqTelemetryManager::UpdateTelemetry()
 		IFCITelemetryData telem_response = _telem_interface.telemetry_.get_reply();
 
 		// also update our internal report for logging
-		_esc_status.esc[_current_module_id_target_index].esc_address  = _module_ids_in_use[_number_of_module_ids_for_telem];
 		_esc_status.esc[_current_module_id_target_index].timestamp    = time_now;
 		_esc_status.esc[_current_module_id_target_index].esc_rpm      = telem_response.speed * 60.0f * M_1_PI_F *
 				0.5f; //We get back rad/s, convert to rpm

src/drivers/actuators/voxl_esc/voxl_esc.cpp

@@ -63,7 +63,6 @@ VoxlEsc::VoxlEsc() :
 
 	for (unsigned i = 0; i < VOXL_ESC_OUTPUT_CHANNELS; i++) {
 		_esc_status.esc[i].timestamp       = 0;
-		_esc_status.esc[i].esc_address     = 0;
 		_esc_status.esc[i].esc_rpm         = 0;
 		_esc_status.esc[i].esc_state       = 0;
 		_esc_status.esc[i].esc_voltage     = 0;
@@ -520,7 +519,6 @@ int VoxlEsc::parse_response(uint8_t *buf, uint8_t len, bool print_feedback)
 					_esc_chans[id].feedback_time = tnow;
 
 					// also update our internal report for logging
-					_esc_status.esc[id].esc_address  = motor_idx + 1; //remapped motor ID
 					_esc_status.esc[id].timestamp    = tnow;
 					_esc_status.esc[id].esc_rpm      = fb.rpm;
 					_esc_status.esc[id].esc_power    = fb.power;
@@ -559,14 +557,6 @@ int VoxlEsc::parse_response(uint8_t *buf, uint8_t len, bool print_feedback)
 					}
 
 
-					//print ESC status just for debugging
-					/*
-					PX4_INFO("[%lld] ID=%d, ADDR %d, STATE=%d, RPM=%5d, PWR=%3d%%, V=%.2fdV, I=%.2fA, T=%+3dC, FAIL %d",
-						_esc_status.esc[id].timestamp, id, _esc_status.esc[id].esc_address,
-						_esc_status.esc[id].esc_state, _esc_status.esc[id].esc_rpm, _esc_status.esc[id].esc_power,
-						(double)_esc_status.esc[id].esc_voltage, (double)_esc_status.esc[id].esc_current, _esc_status.esc[id].esc_temperature,
-					  _esc_status.esc[id].failures);
-					*/
 				}
 			}
 

src/drivers/cyphal/Actuators/EscClient.hpp

@@ -243,7 +243,6 @@ public:
 		const ZubaxCompactFeedback *feedback = ((const ZubaxCompactFeedback *)(receive.payload));
 
 		ref.timestamp       = hrt_absolute_time();
-		ref.esc_address     = receive.metadata.remote_node_id;
 		ref.esc_voltage     = 0.2 * feedback->dc_voltage;
 		ref.esc_current     = 0.2 * feedback->dc_current;
 		ref.esc_temperature = NAN;

src/drivers/uavcan/actuators/esc.cpp

@@ -115,14 +115,13 @@ void UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<
 	if (msg.esc_index < esc_status_s::CONNECTED_ESC_MAX) {
 		esc_report_s &esc_report = _esc_status.esc[msg.esc_index];
 		esc_report.timestamp = hrt_absolute_time();
-		esc_report.esc_address = msg.getSrcNodeID().get();
 		esc_report.esc_voltage = msg.voltage;
 		esc_report.esc_current = msg.current;
 		esc_report.esc_temperature = msg.temperature + atmosphere::kAbsoluteNullCelsius; // Kelvin to Celsius
 		// esc_report.motor_temperature is filled in the extended status callback
 		esc_report.esc_rpm = msg.rpm;
 		esc_report.esc_errorcount = msg.error_count;
-		esc_report.failures = get_failures(msg.esc_index);
+		esc_report.failures = get_failures(msg.esc_index, msg.getSrcNodeID().get());
 
 		_esc_status.esc_count = _rotor_count;
 		_esc_status.counter += 1;
@@ -169,11 +168,11 @@ uint16_t UavcanEscController::check_escs_status()
 	return esc_status_flags;
 }
 
-uint32_t UavcanEscController::get_failures(uint8_t esc_index)
+uint32_t UavcanEscController::get_failures(uint8_t esc_index, uint8_t node_id)
 {
-	// Check DoneCAN node health of the ESC
+	// Check DroneCAN node health of the ESC
 	dronecan_node_status_s node_status{};
-	uint8_t esc_node_id = _esc_status.esc[esc_index].esc_address;
+	uint8_t esc_node_id = node_id;
 	uint8_t node_health = dronecan_node_status_s::HEALTH_OK;
 	uint16_t vendor_specific_status_code = 0;
 

src/drivers/uavcan/actuators/esc.hpp

@@ -104,7 +104,7 @@ private:
 	/**
 	 * Gets failure flags for a specific ESC
 	 */
-	uint32_t get_failures(uint8_t esc_index);
+	uint32_t get_failures(uint8_t esc_index, uint8_t node_id);
 
 	typedef uavcan::MethodBinder<UavcanEscController *,
 		void (UavcanEscController::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status>&)> StatusCbBinder;