msg: extend field definition in msg/esc_report (arming & failure states)

Signed-off-by: Claudio Micheli <claudio@auterion.com>

msg/esc_report.msg

@@ -5,4 +5,16 @@ float32 esc_voltage					# Voltage measured from current ESC [V] - if supported
 float32 esc_current					# Current measured from current ESC [A] - if supported
 uint8 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_state					# State of ESC - depend on Vendor
+
+uint8 failures					# Bitmask to indicate the internal ESC faults
+
+uint8 FAILURE_NONE = 0
+uint8 FAILURE_OVER_CURRENT_MASK = 1 		# (1 << 0)
+uint8 FAILURE_OVER_VOLTAGE_MASK = 2 		# (1 << 1)
+uint8 FAILURE_OVER_TEMPERATURE_MASK = 4 	# (1 << 2)
+uint8 FAILURE_OVER_RPM_MASK = 8			# (1 << 3)
+uint8 FAILURE_INCONSISTENT_CMD_MASK = 16 	# (1 << 4)  Set if ESC received an inconsistent command (i.e out of boundaries)
+uint8 FAILURE_MOTOR_STUCK_MASK = 32		# (1 << 5)
+uint8 FAILURE_GENERIC_MASK = 64			# (1 << 6)

msg/esc_status.msg

@@ -23,4 +23,6 @@ uint8 esc_online_flags					# Bitmask indicating which ESC is online/offline
 # esc_online_flags bit 6 : Set to 1 if ESC6 is online
 # esc_online_flags bit 7 : Set to 1 if ESC7 is online
 
+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.
+
 esc_report[8] esc

src/drivers/dshot/dshot.cpp

@@ -604,6 +604,7 @@ void DShotOutput::handleNewTelemetryData(int motor_index, const DShotTelemetry::
 		++esc_status.counter;
 		// FIXME: mark all ESC's as online, otherwise commander complains even for a single dropout
 		esc_status.esc_online_flags = (1 << esc_status.esc_count) - 1;
+		esc_status.esc_armed_flags = (1 << esc_status.esc_count) - 1;
 
 		_telemetry->esc_status_pub.update();
 

src/drivers/mkblctrl/mkblctrl.cpp

@@ -611,6 +611,8 @@ MK::task_main()
 			esc.timestamp = hrt_absolute_time();
 			esc.esc_count = (uint8_t) _num_outputs;
 			esc.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_I2C;
+			esc.esc_online_flags = (1 << esc.esc_count) - 1;
+			esc.esc_armed_flags = (1 << esc.esc_count) - 1;
 
 			for (unsigned int i = 0; i < _num_outputs; i++) {
 				esc.esc[i].esc_address = (uint8_t) BLCTRL_BASE_ADDR + i;

src/drivers/tap_esc/tap_esc.cpp

@@ -573,6 +573,8 @@ void TAP_ESC::cycle()
 					_esc_feedback.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_SERIAL;
 					_esc_feedback.counter++;
 					_esc_feedback.esc_count = num_outputs;
+					_esc_feedback.esc_online_flags = (1 << num_outputs) - 1;
+					_esc_feedback.esc_armed_flags = (1 << num_outputs) - 1;
 
 					_esc_feedback.timestamp = hrt_absolute_time();
 

src/drivers/uavcan/actuators/esc.cpp

@@ -163,6 +163,7 @@ UavcanEscController::orb_pub_timer_cb(const uavcan::TimerEvent &)
 	_esc_status.counter += 1;
 	_esc_status.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_CAN;
 	_esc_status.esc_online_flags = check_escs_status();
+	_esc_status.esc_armed_flags = (1 << _rotor_count) - 1;
 
 	_esc_status_pub.publish(_esc_status);
 }