From b1b3a695e766b9277a38688857e04ec4455e4ee1 Mon Sep 17 00:00:00 2001 From: Hamish Willee Date: Wed, 4 Feb 2026 08:58:08 +1100 Subject: [PATCH] Update to UORB docs according to standard --- msg/EscEepromRead.msg | 10 ++++---- msg/EscEepromWrite.msg | 12 ++++----- msg/EscReport.msg | 42 ++++++++++++++++---------------- msg/EscStatus.msg | 22 ++++++++--------- msg/versioned/VehicleCommand.msg | 2 +- 5 files changed, 44 insertions(+), 44 deletions(-) diff --git a/msg/EscEepromRead.msg b/msg/EscEepromRead.msg index 05e0607f9c..abbc20c1dc 100644 --- a/msg/EscEepromRead.msg +++ b/msg/EscEepromRead.msg @@ -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 diff --git a/msg/EscEepromWrite.msg b/msg/EscEepromWrite.msg index 818c94695c..5c6f7c51a5 100644 --- a/msg/EscEepromWrite.msg +++ b/msg/EscEepromWrite.msg @@ -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 diff --git a/msg/EscReport.msg b/msg/EscReport.msg index 4792724583..7e6c2088bd 100644 --- a/msg/EscReport.msg +++ b/msg/EscReport.msg @@ -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! diff --git a/msg/EscStatus.msg b/msg/EscStatus.msg index 38bdbdc56b..752b441a95 100644 --- a/msg/EscStatus.msg +++ b/msg/EscStatus.msg @@ -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 diff --git a/msg/versioned/VehicleCommand.msg b/msg/versioned/VehicleCommand.msg index 9910294da9..3a74a4d6c7 100644 --- a/msg/versioned/VehicleCommand.msg +++ b/msg/versioned/VehicleCommand.msg @@ -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.