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Co-Authored-By: PX4 BuildBot <bot@px4.io>
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PX4BuildBot
2026-03-12 17:47:04 +00:00
parent 7b3fe3478b
commit eeb251aa52
7 changed files with 255 additions and 295 deletions
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docs/en/msg_docs/ActuatorMotors.md
+6 -6
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@@ -22,11 +22,11 @@ Published by the vehicle's allocation and consumed by the ESC protocol drivers e
## Constants
| Name | Type | Value | Description |
| --------------------------------------------------------------- | -------- | ----- | ----------- |
| Name | Type | Value | Description |
| --------------------------------------------------------------- | -------- | ----- | --------------------------------- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 |
| <a id="#ACTUATOR_FUNCTION_MOTOR1"></a> ACTUATOR_FUNCTION_MOTOR1 | `uint8` | 101 |
| <a id="#NUM_CONTROLS"></a> NUM_CONTROLS | `uint8` | 12 |
| <a id="#ACTUATOR_FUNCTION_MOTOR1"></a> ACTUATOR_FUNCTION_MOTOR1 | `uint8` | 101 | output_functions.yaml Motor.start |
| <a id="#NUM_CONTROLS"></a> NUM_CONTROLS | `uint8` | 12 | output_functions.yaml Motor.count |
## Source Message
@@ -47,9 +47,9 @@ uint64 timestamp_sample # [us] Sampling timestamp of the data this control respo
uint16 reversible_flags # [-] Bitset indicating which motors are configured to be reversible
uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
uint8 ACTUATOR_FUNCTION_MOTOR1 = 101 # output_functions.yaml Motor.start
uint8 NUM_CONTROLS = 12
uint8 NUM_CONTROLS = 12 # output_functions.yaml Motor.count
float32[12] control # [@range -1, 1] Normalized thrust. Where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors)
```
docs/en/msg_docs/EscReport.md
+2 -23
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@@ -29,17 +29,7 @@ pageClass: is-wide-page
| Name | Type | Value | Description |
| --------------------------------------------------------------------------- | ------- | ----- | ---------------------------------------------------------------------------- |
| <a id="#ACTUATOR_FUNCTION_MOTOR1"></a> ACTUATOR_FUNCTION_MOTOR1 | `uint8` | 101 |
| <a id="#ACTUATOR_FUNCTION_MOTOR2"></a> ACTUATOR_FUNCTION_MOTOR2 | `uint8` | 102 |
| <a id="#ACTUATOR_FUNCTION_MOTOR3"></a> ACTUATOR_FUNCTION_MOTOR3 | `uint8` | 103 |
| <a id="#ACTUATOR_FUNCTION_MOTOR4"></a> ACTUATOR_FUNCTION_MOTOR4 | `uint8` | 104 |
| <a id="#ACTUATOR_FUNCTION_MOTOR5"></a> ACTUATOR_FUNCTION_MOTOR5 | `uint8` | 105 |
| <a id="#ACTUATOR_FUNCTION_MOTOR6"></a> ACTUATOR_FUNCTION_MOTOR6 | `uint8` | 106 |
| <a id="#ACTUATOR_FUNCTION_MOTOR7"></a> ACTUATOR_FUNCTION_MOTOR7 | `uint8` | 107 |
| <a id="#ACTUATOR_FUNCTION_MOTOR8"></a> ACTUATOR_FUNCTION_MOTOR8 | `uint8` | 108 |
| <a id="#ACTUATOR_FUNCTION_MOTOR9"></a> ACTUATOR_FUNCTION_MOTOR9 | `uint8` | 109 |
| <a id="#ACTUATOR_FUNCTION_MOTOR10"></a> ACTUATOR_FUNCTION_MOTOR10 | `uint8` | 110 |
| <a id="#ACTUATOR_FUNCTION_MOTOR11"></a> ACTUATOR_FUNCTION_MOTOR11 | `uint8` | 111 |
| <a id="#ACTUATOR_FUNCTION_MOTOR12"></a> ACTUATOR_FUNCTION_MOTOR12 | `uint8` | 112 |
| <a id="#ACTUATOR_FUNCTION_MOTOR_MAX"></a> ACTUATOR_FUNCTION_MOTOR_MAX | `uint8` | 112 | output_functions.yaml Motor.start + Motor.count - 1 |
| <a id="#FAILURE_OVER_CURRENT"></a> FAILURE_OVER_CURRENT | `uint8` | 0 | (1 << 0) |
| <a id="#FAILURE_OVER_VOLTAGE"></a> FAILURE_OVER_VOLTAGE | `uint8` | 1 | (1 << 1) |
| <a id="#FAILURE_MOTOR_OVER_TEMPERATURE"></a> FAILURE_MOTOR_OVER_TEMPERATURE | `uint8` | 2 | (1 << 2) |
@@ -72,19 +62,8 @@ 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)
uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
uint8 ACTUATOR_FUNCTION_MOTOR2 = 102
uint8 ACTUATOR_FUNCTION_MOTOR3 = 103
uint8 ACTUATOR_FUNCTION_MOTOR4 = 104
uint8 ACTUATOR_FUNCTION_MOTOR5 = 105
uint8 ACTUATOR_FUNCTION_MOTOR6 = 106
uint8 ACTUATOR_FUNCTION_MOTOR7 = 107
uint8 ACTUATOR_FUNCTION_MOTOR8 = 108
uint8 ACTUATOR_FUNCTION_MOTOR9 = 109
uint8 ACTUATOR_FUNCTION_MOTOR10 = 110
uint8 ACTUATOR_FUNCTION_MOTOR11 = 111
uint8 ACTUATOR_FUNCTION_MOTOR12 = 112
uint8 ACTUATOR_FUNCTION_MOTOR_MAX = 112 # output_functions.yaml Motor.start + Motor.count - 1
uint16 failures # Bitmask to indicate the internal ESC faults
int8 esc_power # Applied power 0-100 in % (negative values reserved)