<description>Sends ESC32 telemetry data for up to 4 motors. Multiple messages may be sent in sequence when system has > 4 motors. Data is described as follows:
// unsigned int state : 3;
// unsigned int vin : 12; // x 100
// unsigned int amps : 14; // x 100
// unsigned int rpm : 15;
// unsigned int duty : 8; // x (255/100)
// - Data Version 2 -
// unsigned int errors : 9; // Bad detects error count
// - Data Version 3 -
// unsigned int temp : 9; // (Deg C + 32) * 4
// unsigned int errCode : 3;
</description>
<fieldtype="uint32_t"name="time_boot_ms">Timestamp of the component clock since boot time in ms.</field>
<fieldtype="uint8_t"name="seq">Sequence number of message (first set of 4 motors is #1, next 4 is #2, etc).</field>
<fieldtype="uint8_t"name="num_motors">Total number of active ESCs/motors on the system.</field>
<fieldtype="uint8_t"name="num_in_seq">Number of active ESCs in this sequence (1 through this many array members will be populated with data)</field>
<fieldtype="uint16_t[4]"name="status_age">Age of each ESC telemetry reading in ms compared to boot time. A value of 0xFFFF means timeout/no data.</field>
<fieldtype="uint8_t[4]"name="data_version">Version of data structure (determines contents).</field>
<fieldtype="uint32_t[4]"name="data0">Data bits 1-32 for each ESC.</field>
<fieldtype="uint32_t[4]"name="data1">Data bits 33-64 for each ESC.</field>
Andrew Tridgell
10 years ago