fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-19 03:03:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

msg: extend field definition in msg/esc_report (arming & failure states)

Browse Source 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
This commit is contained in:
Claudio Micheli
2020-04-03 09:16:43 +02:00
committed by Beat Küng
parent 4e091a369d
commit dc29a994b7
6 changed files with 20 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
msg/esc_report.msg
+12
View File
@@ -5,4 +5,16 @@ float32 esc_voltage # Voltage measured from current ESC [V] - if supported
float32 esc_current # Current measured from current ESC [A] - if supported
uint8 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_state # State of ESC - depend on Vendor
uint8 failures # Bitmask to indicate the internal ESC faults
uint8 FAILURE_NONE = 0
uint8 FAILURE_OVER_CURRENT_MASK = 1 # (1 << 0)
uint8 FAILURE_OVER_VOLTAGE_MASK = 2 # (1 << 1)
uint8 FAILURE_OVER_TEMPERATURE_MASK = 4 # (1 << 2)
uint8 FAILURE_OVER_RPM_MASK = 8 # (1 << 3)
uint8 FAILURE_INCONSISTENT_CMD_MASK = 16 # (1 << 4) Set if ESC received an inconsistent command (i.e out of boundaries)
uint8 FAILURE_MOTOR_STUCK_MASK = 32 # (1 << 5)
uint8 FAILURE_GENERIC_MASK = 64 # (1 << 6)
msg/esc_status.msg
+2
View File
@@ -23,4 +23,6 @@ uint8 esc_online_flags # Bitmask indicating which ESC is online/offline
# esc_online_flags bit 6 : Set to 1 if ESC6 is online
# esc_online_flags bit 7 : Set to 1 if ESC7 is online
uint8 esc_armed_flags # Bitmask indicating which ESC is armed. For ESC's where the arming state is not known (returned by the ESC), the arming bits should always be set.
esc_report[8] esc