ESC status - supporting negative RPM

src/modules/sdlog2/sdlog2_messages.h

@@ -248,7 +248,7 @@ struct log_ESC_s {
 	uint16_t esc_version;
 	float    esc_voltage;
 	float    esc_current;
-	uint16_t esc_rpm;
+	int32_t  esc_rpm;
 	float    esc_temperature;
 	float    esc_setpoint;
 	uint16_t esc_setpoint_raw;
@@ -452,7 +452,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(FLOW, "hhfffBB",		"RawX,RawY,CompX,CompY,Dist,Q,SensID"),
 	LOG_FORMAT(GPOS, "LLfffffff",		"Lat,Lon,Alt,VelN,VelE,VelD,EPH,EPV,TALT"),
 	LOG_FORMAT(GPSP, "BLLffBfbf",		"NavState,Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"),
-	LOG_FORMAT(ESC, "HBBBHHffHffH",		"count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
+	LOG_FORMAT(ESC, "HBBBHHffiffH",		"count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
 	LOG_FORMAT(GVSP, "fff",			"VX,VY,VZ"),
 	LOG_FORMAT(BATT, "ffff",		"V,VFilt,C,Discharged"),
 	LOG_FORMAT(DIST, "ffB",			"Bottom,BottomRate,Flags"),

src/modules/uORB/topics/esc_status.h

@@ -99,7 +99,7 @@ struct esc_status_s {
 		uint16_t esc_setpoint_raw;		/**< setpoint of current ESC (Value sent to ESC) */
 		uint16_t esc_address;			/**< Address of current ESC (in most cases 1-8 / must be set by driver) */
 		uint16_t esc_version;			/**< Version of current ESC - if supported */
-		uint16_t esc_rpm;			/**< RPM measured from current ESC [RPM] - if supported */
+		int32_t esc_rpm;			/**< Motor RPM, negative for reverse rotation [RPM] - if supported */
 		uint16_t esc_state;			/**< State of ESC - depend on Vendor */
 	} esc[CONNECTED_ESC_MAX];
 

src/modules/uavcan/actuators/esc.cpp

@@ -140,7 +140,7 @@ void UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<
 		ref.esc_current     = msg.current;
 		ref.esc_temperature = msg.temperature;
 		ref.esc_setpoint    = msg.power_rating_pct;
-		ref.esc_rpm         = abs(msg.rpm);
+		ref.esc_rpm         = msg.rpm;
 		ref.esc_errorcount  = msg.error_count;
 	}
 }