Escreport

EscReport (UORB message)

source file

```c uint64 timestamp # time since system start (microseconds) uint32 esc_errorcount # Number of reported errors by ESC - if supported int32 esc_rpm # Motor RPM, negative for reverse rotation [RPM] - if supported float32 esc_voltage # Voltage measured from current ESC [V] - if supported float32 esc_current # Current measured from current ESC [A] - if supported float32 esc_temperature # Temperature measured from current ESC [degC] - if supported uint8 esc_address # Address of current ESC (in most cases 1-8 / must be set by driver) uint8 esc_cmdcount # Counter of number of commands

uint8 esc_state # State of ESC - depend on Vendor

uint8 actuator_function # actuator output function (one of Motor1...MotorN)

uint16 failures # Bitmask to indicate the internal ESC faults int8 esc_power # Applied power 0-100 in % (negative values reserved)

uint8 FAILURE_OVER_CURRENT = 0 # (1 << 0) uint8 FAILURE_OVER_VOLTAGE = 1 # (1 << 1) uint8 FAILURE_MOTOR_OVER_TEMPERATURE = 2 # (1 << 2) uint8 FAILURE_OVER_RPM = 3 # (1 << 3) uint8 FAILURE_INCONSISTENT_CMD = 4 # (1 << 4) Set if ESC received an inconsistent command (i.e out of boundaries) uint8 FAILURE_MOTOR_STUCK = 5 # (1 << 5) uint8 FAILURE_GENERIC = 6 # (1 << 6) uint8 FAILURE_MOTOR_WARN_TEMPERATURE = 7 # (1 << 7) uint8 FAILURE_WARN_ESC_TEMPERATURE = 8 # (1 << 8) uint8 FAILURE_OVER_ESC_TEMPERATURE = 9 # (1 << 9) uint8 ESC_FAILURE_COUNT = 10 # Counter - keep it as last element!

```