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Update to UORB docs according to standard

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This commit is contained in:
Hamish Willee
2026-02-04 08:58:08 +11:00
committed by GitHub
parent 53a4a871ef
commit b1b3a695e7
5 changed files with 44 additions and 44 deletions
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msg/EscEepromRead.msg
+5 -5
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@@ -1,7 +1,7 @@
uint64 timestamp # time since system start (microseconds)
uint8 firmware # ESC firmware type (see ESC_FIRMWARE enum in MAVLink)
uint8 index # Index of the ESC (0 = ESC1, 1 = ESC2, etc.)
uint16 length # Length of valid data
uint8[192] data # Raw ESC EEPROM data
uint64 timestamp # [us] Time since system start
uint8 firmware # ESC firmware type (see ESC_FIRMWARE enum in MAVLink)
uint8 index # [-] Index of the ESC (0 = ESC1, 1 = ESC2, etc.)
uint16 length # [-] Length of valid data
uint8[192] data # [-] Raw ESC EEPROM data
uint8 ORB_QUEUE_LENGTH = 8 # To support 8 queued up responses
msg/EscEepromWrite.msg
+6 -6
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@@ -1,8 +1,8 @@
uint64 timestamp # time since system start (microseconds)
uint8 firmware # ESC firmware type (see ESC_FIRMWARE enum in MAVLink)
uint8 index # Index of the ESC (0 = ESC1, 1 = ESC2, etc, 255 = All)
uint16 length # Length of valid data
uint8[64] data # Raw ESC EEPROM data
uint32[2] write_mask # Bitmask indicating which bytes in the data array should be written (max 64 values)
uint64 timestamp # [us] Time since system start
uint8 firmware # [-] ESC firmware type (see ESC_FIRMWARE enum in MAVLink)
uint8 index # [-]Index of the ESC (0 = ESC1, 1 = ESC2, etc, 255 = All)
uint16 length # [-]Length of valid data
uint8[64] data # [-]Raw ESC EEPROM data
uint32[2] write_mask # [-] Bitmask indicating which bytes in the data array should be written (max 64 values)
uint8 ORB_QUEUE_LENGTH = 8 # To support 8 queued up requests
msg/EscReport.msg
+21 -21
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@@ -1,16 +1,16 @@
uint64 timestamp # time since system start (microseconds)
uint64 timestamp # [us] Time since system start
uint32 esc_errorcount # Number of reported errors by ESC - if supported
int32 esc_rpm # Motor RPM, negative for reverse rotation [RPM] - if supported
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
uint32 esc_errorcount # [-] Number of reported errors by ESC - if supported
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 1-8 / must be set by driver)
uint8 esc_cmdcount # [-] Counter of number of commands
uint8 esc_state # State of ESC - depend on Vendor
uint8 esc_state # [-] State of ESC - depend on Vendor
uint8 actuator_function # actuator output function (one of Motor1...MotorN)
uint8 actuator_function # [-] Actuator output function (one of Motor1...MotorN)
uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
uint8 ACTUATOR_FUNCTION_MOTOR2 = 102
@@ -25,17 +25,17 @@ uint8 ACTUATOR_FUNCTION_MOTOR10 = 110
uint8 ACTUATOR_FUNCTION_MOTOR11 = 111
uint8 ACTUATOR_FUNCTION_MOTOR12 = 112
uint16 failures # Bitmask to indicate the internal ESC faults
int8 esc_power # Applied power 0-100 in % (negative values reserved)
uint16 failures # [@enum FAILURE] Bitmask to indicate the internal ESC faults
int8 esc_power # [%] [@range 0,100] Applied power (negative values reserved)
uint8 FAILURE_OVER_CURRENT = 0 # (1 << 0)
uint8 FAILURE_OVER_VOLTAGE = 1 # (1 << 1)
uint8 FAILURE_OVER_CURRENT = 0 # (1 << 0)
uint8 FAILURE_OVER_VOLTAGE = 1 # (1 << 1)
uint8 FAILURE_MOTOR_OVER_TEMPERATURE = 2 # (1 << 2)
uint8 FAILURE_OVER_RPM = 3 # (1 << 3)
uint8 FAILURE_INCONSISTENT_CMD = 4 # (1 << 4) Set if ESC received an inconsistent command (i.e out of boundaries)
uint8 FAILURE_MOTOR_STUCK = 5 # (1 << 5)
uint8 FAILURE_GENERIC = 6 # (1 << 6)
uint8 FAILURE_OVER_RPM = 3 # (1 << 3)
uint8 FAILURE_INCONSISTENT_CMD = 4 # (1 << 4) Set if ESC received an inconsistent command (i.e out of boundaries)
uint8 FAILURE_MOTOR_STUCK = 5 # (1 << 5)
uint8 FAILURE_GENERIC = 6 # (1 << 6)
uint8 FAILURE_MOTOR_WARN_TEMPERATURE = 7 # (1 << 7)
uint8 FAILURE_WARN_ESC_TEMPERATURE = 8 # (1 << 8)
uint8 FAILURE_OVER_ESC_TEMPERATURE = 9 # (1 << 9)
uint8 ESC_FAILURE_COUNT = 10 # Counter - keep it as last element!
uint8 FAILURE_WARN_ESC_TEMPERATURE = 8 # (1 << 8)
uint8 FAILURE_OVER_ESC_TEMPERATURE = 9 # (1 << 9)
uint8 ESC_FAILURE_COUNT = 10 # Counter - keep it as last element!
msg/EscStatus.msg
+11 -11
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@@ -1,17 +1,17 @@
uint64 timestamp # time since system start (microseconds)
uint8 CONNECTED_ESC_MAX = 12 # The number of ESCs supported (Motor1-Motor12)
uint64 timestamp # [us] Time since system start
uint8 CONNECTED_ESC_MAX = 12 # The number of ESCs supported (Motor1-Motor12)
uint8 ESC_CONNECTION_TYPE_PPM = 0 # Traditional PPM ESC
uint8 ESC_CONNECTION_TYPE_SERIAL = 1 # Serial Bus connected ESC
uint8 ESC_CONNECTION_TYPE_PPM = 0 # Traditional PPM ESC
uint8 ESC_CONNECTION_TYPE_SERIAL = 1 # Serial Bus connected ESC
uint8 ESC_CONNECTION_TYPE_ONESHOT = 2 # One Shot PPM
uint8 ESC_CONNECTION_TYPE_I2C = 3 # I2C
uint8 ESC_CONNECTION_TYPE_CAN = 4 # CAN-Bus
uint8 ESC_CONNECTION_TYPE_DSHOT = 5 # DShot
uint8 ESC_CONNECTION_TYPE_I2C = 3 # I2C
uint8 ESC_CONNECTION_TYPE_CAN = 4 # CAN-Bus
uint8 ESC_CONNECTION_TYPE_DSHOT = 5 # DShot
uint16 counter # incremented by the writing thread everytime new data is stored
uint16 counter # [-] Incremented by the writing thread everytime new data is stored
uint8 esc_count # number of connected ESCs
uint8 esc_connectiontype # how ESCs connected to the system
uint8 esc_count # [-] Number of connected ESCs
uint8 esc_connectiontype # [@enum ESC_CONNECTION_TYPE] How ESCs connected to the system
uint16 esc_online_flags # Bitmask indicating which ESC is online/offline (in motor order)
# esc_online_flags bit 0 : Set to 1 if Motor1 is online
@@ -27,6 +27,6 @@ uint16 esc_online_flags # Bitmask indicating which ESC is online/o
# esc_online_flags bit 10: Set to 1 if Motor11 is online
# esc_online_flags bit 11: Set to 1 if Motor12 is online
uint16 esc_armed_flags # Bitmask indicating which ESC is armed (in motor order)
uint16 esc_armed_flags # [-] Bitmask indicating which ESC is armed (in motor order)
EscReport[12] esc
msg/versioned/VehicleCommand.msg
+1 -1
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@@ -80,7 +80,7 @@ uint16 VEHICLE_CMD_GIMBAL_DEVICE_INFORMATION = 283 # Command to ask information
uint16 VEHICLE_CMD_MISSION_START = 300 # Start running a mission. |first_item: the first mission item to run|last_item: the last mission item to run (after this item is run, the mission ends)|
uint16 VEHICLE_CMD_ACTUATOR_TEST = 310 # Actuator testing command. |[@range -1,1] value|[s] timeout|Unused|Unused|output function|
uint16 VEHICLE_CMD_CONFIGURE_ACTUATOR = 311 # Actuator configuration command. |configuration|Unused|Unused|Unused|output function|
uint16 VEHICLE_CMD_ESC_REQUEST_EEPROM = 312 # Request EEPROM data from an ESC. |esc index|firmware type (ESC_FIRMWARE enum)|
uint16 VEHICLE_CMD_ESC_REQUEST_EEPROM = 312 # Request EEPROM data from an ESC. |ESC index|Firmware type (ESC_FIRMWARE enum)|Unused|Unused||Unused|Unused|
uint16 VEHICLE_CMD_COMPONENT_ARM_DISARM = 400 # Arms / Disarms a component. |1 to arm, 0 to disarm.
uint16 VEHICLE_CMD_RUN_PREARM_CHECKS = 401 # Instructs a target system to run pre-arm checks.
uint16 VEHICLE_CMD_INJECT_FAILURE = 420 # Inject artificial failure for testing purposes.