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72 lines
6.4 KiB
Markdown
72 lines
6.4 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# EscStatus (UORB message)
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**TOPICS:** esc_status
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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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| 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` | | | how ESCs connected to the system |
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| esc_online_flags | `uint8` | | | Bitmask indicating which ESC is online/offline |
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| esc_armed_flags | `uint8` | | | Bitmask indicating which ESC is armed. For ESC's where the arming state is not known (returned by the ESC), the arming bits should always be set. |
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| esc | `EscReport[8]` | | | |
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## Constants
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| 명칭 | 형식 | Value | 설명 |
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| -------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | ---------------------------------------------------------------------------------------------------- |
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| <a href="#CONNECTED_ESC_MAX"></a> CONNECTED_ESC_MAX | `uint8` | 8 | The number of ESCs supported. Current (Q2/2013) we support 8 ESCs |
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| <a href="#ESC_CONNECTION_TYPE_PPM"></a> ESC_CONNECTION_TYPE_PPM | `uint8` | 0 | Traditional PPM ESC |
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| <a href="#ESC_CONNECTION_TYPE_SERIAL"></a> ESC_CONNECTION_TYPE_SERIAL | `uint8` | 1 | Serial Bus connected ESC |
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| <a href="#ESC_CONNECTION_TYPE_ONESHOT"></a> ESC_CONNECTION_TYPE_ONESHOT | `uint8` | 2 | One Shot PPM |
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| <a href="#ESC_CONNECTION_TYPE_I2C"></a> ESC_CONNECTION_TYPE_I2C | `uint8` | 3 | I2C |
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| <a href="#ESC_CONNECTION_TYPE_CAN"></a> ESC_CONNECTION_TYPE_CAN | `uint8` | 4 | CAN-Bus |
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| <a href="#ESC_CONNECTION_TYPE_DSHOT"></a> ESC_CONNECTION_TYPE_DSHOT | `uint8` | 5 | DShot |
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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 # time since system start (microseconds)
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uint8 CONNECTED_ESC_MAX = 8 # The number of ESCs supported. Current (Q2/2013) we support 8 ESCs
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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 # how ESCs connected to the system
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uint8 esc_online_flags # Bitmask indicating which ESC is online/offline
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# esc_online_flags bit 0 : Set to 1 if ESC0 is online
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# esc_online_flags bit 1 : Set to 1 if ESC1 is online
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# esc_online_flags bit 2 : Set to 1 if ESC2 is online
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# esc_online_flags bit 3 : Set to 1 if ESC3 is online
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# esc_online_flags bit 4 : Set to 1 if ESC4 is online
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# esc_online_flags bit 5 : Set to 1 if ESC5 is online
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# esc_online_flags bit 6 : Set to 1 if ESC6 is online
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# esc_online_flags bit 7 : Set to 1 if ESC7 is online
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uint8 esc_armed_flags # Bitmask indicating which ESC is armed. For ESC's where the arming state is not known (returned by the ESC), the arming bits should always be set.
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EscReport[8] esc
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```
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:::
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