[Spinal][msg] add two new msg for ESCTelemetry.

jsk-ros-pkg · Jul 31, 2024 · 588abf7 · 588abf7
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diff --git a/aerial_robot_nerve/spinal/msg/ESCTelemetry.msg b/aerial_robot_nerve/spinal/msg/ESCTelemetry.msg
@@ -0,0 +1,8 @@
+# check the KISS protocol for details: https://brushlesswhoop.com/dshot-and-bidirectional-dshot/
+
+int8 temperature  # 1 degree
+uint16 voltage  # 1000 = 10.00V
+uint16 current  # 1000 = 10.00A
+uint16 consumption  # 1mAh
+uint32 rpm  # 1 rpm
+uint8 crc_error  # calculated crc - received crc
diff --git a/aerial_robot_nerve/spinal/msg/ESCTelemetryArray.msg b/aerial_robot_nerve/spinal/msg/ESCTelemetryArray.msg
@@ -0,0 +1,6 @@
+time stamp
+# spinal/ESCTelemetry[] esc_telemetry_array
+spinal/ESCTelemetry esc_telemetry_1
+spinal/ESCTelemetry esc_telemetry_2
+spinal/ESCTelemetry esc_telemetry_3
+spinal/ESCTelemetry esc_telemetry_4