ESC Telemetry plugin: add diagnostics support

mavlink · Feb 17, 2022 · f9f7028 · f9f7028
1 parent 03dfe17
commit f9f7028
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Showing 3 changed files with 326 additions and 14 deletions.
diff --git a/mavros/launch/apm_config.yaml b/mavros/launch/apm_config.yaml
@@ -7,9 +7,9 @@ startup_px4_usb_quirk: false
 
 # sys_status & sys_time connection options
 conn:
-  heartbeat_rate: 1.0    # send hertbeat rate in Hertz
+  heartbeat_rate: 1.0    # send heartbeat rate in Hertz
   heartbeat_mav_type: "ONBOARD_CONTROLLER"
-  timeout: 10.0          # hertbeat timeout in seconds
+  timeout: 10.0          # heartbeat timeout in seconds
   timesync_rate: 10.0    # TIMESYNC rate in Hertz (feature disabled if 0.0)
   system_time_rate: 1.0  # send system time to FCU rate in Hertz (disabled if 0.0)
 
@@ -150,6 +150,36 @@ distance_sensor:
     id: 1
     orientation: PITCH_270  # only that orientation are supported by APM 3.4+
 
+esc_telemetry:
+  diagnostics:
+    enabled: true
+    temp_min:           #degC
+      nok: 1
+      ok: 2
+    volt_min:           #V
+      nok: 14
+      ok: 14.5
+    curr_min:           #A
+      nok: 4
+      ok: 5
+    rpm_min:
+      nok: 2000
+      ok: 3000
+    temp_max:           #degC
+      nok: 90
+      ok: 85
+    volt_max:           #V
+      nok: 17.2
+      ok: 16.9
+    curr_max:           #A
+      nok: 10
+      ok: 8
+    rpm_max:
+      nok: 12000
+      ok: 9000
+    count:
+      min_delta: 10
+
 # image_pub
 image:
   frame_id: "px4flow"