From 588abf734dabd201da972af8ec5d9b9b08153809 Mon Sep 17 00:00:00 2001 From: "LI, Jinjie" Date: Wed, 31 Jul 2024 13:14:50 +0900 Subject: [PATCH] [Spinal][msg] add two new msg for ESCTelemetry. --- aerial_robot_nerve/spinal/msg/ESCTelemetry.msg | 8 ++++++++ aerial_robot_nerve/spinal/msg/ESCTelemetryArray.msg | 6 ++++++ 2 files changed, 14 insertions(+) create mode 100644 aerial_robot_nerve/spinal/msg/ESCTelemetry.msg create mode 100644 aerial_robot_nerve/spinal/msg/ESCTelemetryArray.msg diff --git a/aerial_robot_nerve/spinal/msg/ESCTelemetry.msg b/aerial_robot_nerve/spinal/msg/ESCTelemetry.msg new file mode 100644 index 000000000..a8fc841b2 --- /dev/null +++ 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 \ No newline at end of file diff --git a/aerial_robot_nerve/spinal/msg/ESCTelemetryArray.msg b/aerial_robot_nerve/spinal/msg/ESCTelemetryArray.msg new file mode 100644 index 000000000..155f8b2f9 --- /dev/null +++ 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 \ No newline at end of file