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mavlink: esc: fix ESC_STATUS and ESC_INFO message emission. (#25849)

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* mavlink: esc: fix ESC_STATUS and ESC_INFO message emission.

Fixes mavlink messages emission for ESC messages. Actuator --> MotorNumber mapping was not respected, the mavlink messages should be reporting the ESC status in motor number order not actuator order.

* Update src/modules/mavlink/streams/ESC_STATUS.hpp

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

* Update src/modules/mavlink/streams/ESC_INFO.hpp

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

* remove dependency on mixer_module/output_functions.hpp

* add actuator function definitions to EscReport.msg

* clean up

* add missing header

---------

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
This commit is contained in:
Jacob Dahl
2025-11-19 08:51:42 -09:00
committed by GitHub
parent 229b53d25d
commit efbc9e64a4
4 changed files with 180 additions and 51 deletions
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msg/EscReport.msg
+13
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@@ -11,6 +11,19 @@ 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
uint16 failures # Bitmask to indicate the internal ESC faults
int8 esc_power # Applied power 0-100 in % (negative values reserved)