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34 lines
1.3 KiB
Plaintext
34 lines
1.3 KiB
Plaintext
# Servo report
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#
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# Contains information about a specific servo (position, force, speed, load).
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# Also contains auxiliary power data (voltage, current) and temperature.
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uint64 timestamp # [us] Time since system start
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uint8 actuator_id # [-] DroneCAN actuator id of servo. Set to 0 for non DroneCAN servos
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uint8 node_id # [-] DroneCAN node id of servo. Set to 0 for non DroneCAN servos
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float32 position # meter or radian
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float32 force # Newton or Newton metre
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float32 speed # meter per second or radian per second
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float32 power_rating_pct # [%] [@range 0, 100] Servo load
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uint8 function # [-] Servo output function
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uint16 temperature_counter # [-] Incremented when temperature data got updated
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float32 temperature # [degC] Servo temperature.
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uint8 temperature_error_flags # [@enum ERROR_FLAG] Temperature error flags
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uint8 ERROR_FLAG_OVERHEATING = 1
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uint8 ERROR_FLAG_OVERCOOLING = 2
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uint16 power_counter # [-] Incremented when power data got updated
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float32 voltage # [V] Servo voltage
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float32 current # [A] Servo current draw
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uint8 power_error_flags # [@enum ERROR_FLAG] Power error flags
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uint8 ERROR_FLAG_OVERVOLTAGE = 1
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uint8 ERROR_FLAG_UNDERVOLTAGE = 2
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uint8 ERROR_FLAG_OVERCURRENT = 4
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uint8 ERROR_FLAG_UNDERCURRENT = 8
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