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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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83 lines
6.0 KiB
Markdown
83 lines
6.0 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# EscStatus (повідомлення UORB)
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**TOPICS:** esc_status
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## Fields
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| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
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| ---------------------------------------------------------- | --------------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------- |
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| timestamp | `uint64` | us | | Time since system start |
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| counter | `uint16` | | | Incremented by the writing thread everytime new data is stored |
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| esc_count | `uint8` | | | Number of connected ESCs |
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| esc_connectiontype | `uint8` | | [ESC_CONNECTION_TYPE](#ESC_CONNECTION_TYPE) | How ESCs connected to the system |
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| esc_online_flags | `uint16` | | | Bitmask indicating which ESC is online/offline (in motor order) |
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| esc_armed_flags | `uint16` | | | Bitmask indicating which ESC is armed (in motor order) |
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| esc | `EscReport[12]` | | | |
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## Enums
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### ESC_CONNECTION_TYPE {#ESC_CONNECTION_TYPE}
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| Назва | Тип | Значення | Опис |
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| ------------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ------------------------ |
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| <a id="#ESC_CONNECTION_TYPE_PPM"></a> ESC_CONNECTION_TYPE_PPM | `uint8` | 0 | Traditional PPM ESC |
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| <a id="#ESC_CONNECTION_TYPE_SERIAL"></a> ESC_CONNECTION_TYPE_SERIAL | `uint8` | 1 | Serial Bus connected ESC |
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| <a id="#ESC_CONNECTION_TYPE_ONESHOT"></a> ESC_CONNECTION_TYPE_ONESHOT | `uint8` | 2 | One Shot PPM |
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| <a id="#ESC_CONNECTION_TYPE_I2C"></a> ESC_CONNECTION_TYPE_I2C | `uint8` | 3 | I2C |
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| <a id="#ESC_CONNECTION_TYPE_CAN"></a> ESC_CONNECTION_TYPE_CAN | `uint8` | 4 | CAN-Bus |
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| <a id="#ESC_CONNECTION_TYPE_DSHOT"></a> ESC_CONNECTION_TYPE_DSHOT | `uint8` | 5 | DShot |
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## Constants
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| Назва | Тип | Значення | Опис |
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| ------------------------------------------------------------------------------------------- | ------- | -------- | ---------------------------------------------------------------- |
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| <a id="#CONNECTED_ESC_MAX"></a> CONNECTED_ESC_MAX | `uint8` | 12 | The number of ESCs supported (Motor1-Motor12) |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EscStatus.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 # [us] Time since system start
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uint8 CONNECTED_ESC_MAX = 12 # The number of ESCs supported (Motor1-Motor12)
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uint8 ESC_CONNECTION_TYPE_PPM = 0 # Traditional PPM ESC
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uint8 ESC_CONNECTION_TYPE_SERIAL = 1 # Serial Bus connected ESC
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uint8 ESC_CONNECTION_TYPE_ONESHOT = 2 # One Shot PPM
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uint8 ESC_CONNECTION_TYPE_I2C = 3 # I2C
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uint8 ESC_CONNECTION_TYPE_CAN = 4 # CAN-Bus
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uint8 ESC_CONNECTION_TYPE_DSHOT = 5 # DShot
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uint16 counter # [-] Incremented by the writing thread everytime new data is stored
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uint8 esc_count # [-] Number of connected ESCs
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uint8 esc_connectiontype # [@enum ESC_CONNECTION_TYPE] How ESCs connected to the system
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uint16 esc_online_flags # Bitmask indicating which ESC is online/offline (in motor order)
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# esc_online_flags bit 0 : Set to 1 if Motor1 is online
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# esc_online_flags bit 1 : Set to 1 if Motor2 is online
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# esc_online_flags bit 2 : Set to 1 if Motor3 is online
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# esc_online_flags bit 3 : Set to 1 if Motor4 is online
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# esc_online_flags bit 4 : Set to 1 if Motor5 is online
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# esc_online_flags bit 5 : Set to 1 if Motor6 is online
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# esc_online_flags bit 6 : Set to 1 if Motor7 is online
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# esc_online_flags bit 7 : Set to 1 if Motor8 is online
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# esc_online_flags bit 8 : Set to 1 if Motor9 is online
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# esc_online_flags bit 9 : Set to 1 if Motor10 is online
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# esc_online_flags bit 10: Set to 1 if Motor11 is online
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# esc_online_flags bit 11: Set to 1 if Motor12 is online
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uint16 esc_armed_flags # [-] Bitmask indicating which ESC is armed (in motor order)
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EscReport[12] esc
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```
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:::
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