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75 lines
5.7 KiB
Markdown
75 lines
5.7 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# SystemPower (UORB message)
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**TOPICS:** system_power
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## Fields
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| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
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| --------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------- |
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| timestamp | `uint64` | | | time since system start (microseconds) |
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| voltage5v_v | `float32` | | | peripheral 5V rail voltage |
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| voltage_payload_v | `float32` | | | payload rail voltage |
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| sensors3v3 | `float32[4]` | | | Sensors 3V3 rail voltage |
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| sensors3v3_valid | `uint8` | | | Sensors 3V3 rail voltage was read (bitfield). |
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| usb_connected | `uint8` | | | USB is connected when 1 |
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| brick_valid | `uint8` | | | brick bits power is good when bit 1 |
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| usb_valid | `uint8` | | | USB is valid when 1 |
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| servo_valid | `uint8` | | | servo power is good when 1 |
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| periph_5v_oc | `uint8` | | | peripheral overcurrent when 1 |
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| hipower_5v_oc | `uint8` | | | high power peripheral overcurrent when 1 |
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| comp_5v_valid | `uint8` | | | 5V to companion valid |
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| can1_gps1_5v_valid | `uint8` | | | 5V for CAN1/GPS1 valid |
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| payload_v_valid | `uint8` | | | payload rail voltage is valid |
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## Constants
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| 명칭 | 형식 | Value | 설명 |
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| ----------------------------------------------------------------------------------------------- | ------- | ----- | -- |
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| <a id="#BRICK1_VALID_SHIFTS"></a> BRICK1_VALID_SHIFTS | `uint8` | 0 | |
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| <a id="#BRICK1_VALID_MASK"></a> BRICK1_VALID_MASK | `uint8` | 1 | |
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| <a id="#BRICK2_VALID_SHIFTS"></a> BRICK2_VALID_SHIFTS | `uint8` | 1 | |
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| <a id="#BRICK2_VALID_MASK"></a> BRICK2_VALID_MASK | `uint8` | 2 | |
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| <a id="#BRICK3_VALID_SHIFTS"></a> BRICK3_VALID_SHIFTS | `uint8` | 2 | |
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| <a id="#BRICK3_VALID_MASK"></a> BRICK3_VALID_MASK | `uint8` | 4 | |
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| <a id="#BRICK4_VALID_SHIFTS"></a> BRICK4_VALID_SHIFTS | `uint8` | 3 | |
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| <a id="#BRICK4_VALID_MASK"></a> BRICK4_VALID_MASK | `uint8` | 8 | |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SystemPower.msg)
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:::details
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Click here to see original file
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```c
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uint64 timestamp # time since system start (microseconds)
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float32 voltage5v_v # peripheral 5V rail voltage
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float32 voltage_payload_v # payload rail voltage
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float32[4] sensors3v3 # Sensors 3V3 rail voltage
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uint8 sensors3v3_valid # Sensors 3V3 rail voltage was read (bitfield).
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uint8 usb_connected # USB is connected when 1
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uint8 brick_valid # brick bits power is good when bit 1
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uint8 usb_valid # USB is valid when 1
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uint8 servo_valid # servo power is good when 1
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uint8 periph_5v_oc # peripheral overcurrent when 1
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uint8 hipower_5v_oc # high power peripheral overcurrent when 1
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uint8 comp_5v_valid # 5V to companion valid
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uint8 can1_gps1_5v_valid # 5V for CAN1/GPS1 valid
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uint8 payload_v_valid # payload rail voltage is valid
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uint8 BRICK1_VALID_SHIFTS=0
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uint8 BRICK1_VALID_MASK=1
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uint8 BRICK2_VALID_SHIFTS=1
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uint8 BRICK2_VALID_MASK=2
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uint8 BRICK3_VALID_SHIFTS=2
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uint8 BRICK3_VALID_MASK=4
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uint8 BRICK4_VALID_SHIFTS=3
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uint8 BRICK4_VALID_MASK=8
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```
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:::
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