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esc: clarify RPM/command direction meaning #64

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Merged
tridge merged 1 commit into from
Feb 3, 2025
Merged

esc: clarify RPM/command direction meaning #64

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8 changes: 5 additions & 3 deletions uavcan/equipment/esc/1030.RawCommand.uavcan
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Original file line number Diff line number Diff line change
@@ -1,7 +1,9 @@
#
# Raw ESC command normalized into [-8192, 8191]; negative values indicate reverse rotation.
# The ESC should normalize the setpoint into its effective input range.
# Non-zero setpoint value below minimum should be interpreted as min valid setpoint for the given motor.
# Raw ESC command normalized into [-8192, 8191]. The ESC should normalize the setpoint into its effective input range.
# Non-zero setpoint value below minimum should be interpreted as min valid setpoint for the given motor. Positive
# values indicate forward rotation, negative values indicate reverse rotation, and zero indicates no rotation. For example,
# a typical quadcopter always commands non-negative values for all four motors, independent of ESC configuration,
# motor wiring, or propeller direction. ESCs which do not allow reverse rotation shall clamp negative commands to zero.
#

int14[<=20] cmd
4 changes: 3 additions & 1 deletion uavcan/equipment/esc/1031.RPMCommand.uavcan
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Expand Up @@ -2,7 +2,9 @@
# Simple RPM setpoint.
# The ESC should automatically clamp the setpoint according to the minimum and maximum supported RPM;
# for example, given a ESC that operates in the range 100 to 10000 RPM, a setpoint of 1 RPM will be clamped to 100 RPM.
# Negative values indicate reverse rotation.
# Positive values indicate forward rotation, negative values indicate reverse rotation, and zero indicates no rotation.
# For example, a typical quadcopter always commands non-negative values for all four motors, independent of ESC configuration,
# motor wiring, or propeller direction. ESCs which do not allow reverse rotation shall clamp negative RPMs to zero.
#

int18[<=20] rpm
5 changes: 4 additions & 1 deletion uavcan/equipment/esc/1034.Status.uavcan
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Expand Up @@ -9,7 +9,10 @@ float16 voltage # Volt
float16 current # Ampere. Can be negative in case of a regenerative braking.
float16 temperature # Kelvin

int18 rpm # Negative value indicates reverse rotation
int18 rpm # Current value, with the same sign convention as RPMCommand. For example, a typical
# quadcopter reports non-negative values for all four motors, independent of ESC
# configuration, motor wiring, or propeller direction. ESCs are expected to report
# negative values if currently spinning in reverse.

uint7 power_rating_pct # Instant demand factor in percent (percent of maximum power); range 0% to 127%.

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