---
title: Control and Telemetry
slug: hargrave-arinc-protocol-1-1/control-and-telemetry
docTags:
createdAt: 2025-09-24T05:42:14.331Z
---
# Conventions
## Percentage Representations
Payload values in percentages are mapped to the range of -INT16\_MAX to INT16\_MAX.
## Group CID
A Group CID can be used to send a message to a group of 4 SIDs. The group CID is used in place of the device SID in broadcast messages.
### Calculating Group CID
The group number, or group Controller Identifier (CID) for a device with a given SID (1-127) can be calculated as follows, please note the use of the floor division operator:
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**Example**
A device with SID 8 will map to group 2 as demonstrated below:
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Group 2 will contain the following SIDs: \[5, 6, 7, 8] or represented as the range: \[5, 8].
### Calculating Index within Group
The index of a device with a given SID within it’s group can be calculated as follows, ‘mod 4’ indicates the use of the modulo operator (often represented by the % in many programming languages):
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**Example**
A device with SID 6 is in CID group 2 which contains the following range of \[5, 8]. The index of SID 6 is calculated as, indexing is 1-based:
::Image[]{src="https://app.archbee.com/api/optimize/MIXUvgEo5LjmssoyMwenk/-HWAGgOrO5LoVn3PKVrcY_image.png" size="60" width="353" height="138" position="center" darkWidth="353" darkHeight="138" showCaption="false"}
### Group CID Diagram
The below diagram demonstrates the Group CID and Group Index relationship for SIDs 1-12, the pattern of groups and group indexes continues for higher SIDs.
# Throttle Control
Throttle can be controlled with one of two methods, sending a throttle message to a singular ESC or broadcasting throttle to groups of 4 ESCs at a time. Throttle commands should be sent to each ESC at a minimum frequency of 1Hz. 100Hz is typical, but the frequency should be adjusted according to system requirements.
| **CAN ID** | **CFC** | **CID** | **Function Name** | **Sender** | **Payload** | **Description** |
| -------------------------- | ------- | --------- | ------------------ | ---------- | ----------------------------- | --------------------------------------------------------------- |
| 0x08581400 \| (SID \<\< 2) | 10 | SID | Direct Throttle | System | Signed 16bit Throttle | Throttle for specific controller based on SID. |
| 0x08581600 \| (SID \<\< 2) | 11 | Group CID | Broadcast Throttle | System | \[1,4] Signed 16bit throttles | Throttle for a group of 4 controllers addressed by a group CID. |
## Direct Throttle
A direct throttle command sends a singular throttle value to an individual motor controller on the bus.
### CAN ID - 0x08581400 | (SID \<\< 2)
The direct throttle message CAN ID is: 0x08581400 | (SID \<\< 2)
Where SID is the target device SID.
For SID 1 the CAN ID is: 0x08581404
**Advanced:**
| **FID** | **CFC** | **CID** |
| ------------------- | ------- | ---------- |
| Device (Default 11) | 10 | Device SID |
### CAN Payload
The CAN payload is structured as follows:
| **Bytes** | **Datatype** | **Content** |
| --------- | ------------ | ---------------------------------------------------- |
| 0-1 | INT16 | Throttle Percentage Value (mapped to +/- INT16\_MAX) |
## Broadcast Throttle
A broadcast throttle sends up to 4 throttle values in a singular CAN frame to a group of up to 4 motor controllers. This can reduce bandwidth required for throttle commands compared to sending direct throttle commands to each ESC.
### CAN ID - 0x08581600 | (Group CID \<\< 2)
The CAN ID for the broadcast throttle uses the group CID instead of the SID as follows:
The direct throttle message CAN ID is: 0x08581600 | (Group CID \<\< 2)
Where group CID is the target group CID.
For group CID 2 the CAN ID is: 0x08581608
**Advanced:**
| **FID** | **CFC** | **CID** |
| ------------------- | ------- | --------- |
| Device (Default 11) | 11 | Group CID |
### CAN Payload
The CAN payload is structured with 1-4 INT16 throttle values as follows:
| **Bytes** | **Datatype** | **Content** |
| -------------- | ------------ | ---------------------------------------------------------------------- |
| 0-1 | INT16 | Throttle Percentage Value for group index 1 (mapped to +/- INT16\_MAX) |
| 2-3 (Optional) | INT16 | Throttle Percentage Value for group index 2 (mapped to +/- INT16\_MAX) |
| 4-5 (Optional) | INT16 | Throttle Percentage Value for group index 3 (mapped to +/- INT16\_MAX) |
| 6-7 (Optional) | INT16 | Throttle Percentage Value for group index 4 (mapped to +/- INT16\_MAX) |
### Example
The below diagram demonstrates how the broadcast throttle message operates with 4 ESCs with group CID 2:
# Telemetry
Telemetry is broadcast over the following messages. The rate at which each message type is sent is configurable in device settings.
| **CAN ID** | **CFC** | **CID** | **Function Name** | **Sender** | **Payload** | **Description** |
| -------------------------- | ------- | ------- | ----------------- | ---------- | ------------------ | -------------------------------------------------------------------------------------------------------------------------------- |
| 0x08586400 \| (SID \<\< 2) | 50 | SID | ESC Status 1 | ESC | 4x 16 bit Statuses | ESC Status Broadcast 1
* Bus Voltage
* Bus Current
* Phase Current
* Mechanical RPM |
| 0x08586600 \| (SID \<\< 2) | 51 | SID | ESC Status 2 | ESC | 4x 16 bit Statuses | ESC Status Broadcast 2
* Bridge Temperature
* Motor Temperature
* Status Flags
* ms since last command |
| 0x08586800 \| (SID \<\< 2) | 52 | SID | ESC Status 3 | ESC | 4x 16 bit Statuses | ESC Status Broadcast 3
* Output Power Percentage
* Input Duty Cycle Percentage
* Output Duty Cycle Percentage
* Motor Angle |
## ESC Status 1
The ESC Status 1 telemetry broadcast is sent by each ESC at a configurable frequency, default 10Hz.
### CAN ID - 0x08586400 | (SID \<\< 2)
The ESC Status 1 message CAN ID is: 0x08586400 | (SID \<\< 2)
Where SID is the SID of the device sending the message.
For SID 1 the CAN ID is: 0x08586404
**Advanced:**
| **FID** | **CFC** | **CID** |
| ------------------- | ------- | ---------- |
| Device (Default 11) | 50 | Device SID |
### CAN Payload
The CAN payload is structured as follows:
| **Bytes** | **Datatype** | **Content** |
| --------- | ------------ | ----------------------- |
| 0-1 | INT16 | Bus Voltage (V) \* 100 |
| 2-3 | INT16 | Bus Current (A) \* 10 |
| 4-5 | INT16 | Phase Current (A) \* 10 |
| 6-7 | UINT16 | Mechanical RPM |
## ESC Status 2
The ESC Status 2 telemetry broadcast is sent by each ESC at a configurable frequency, default 10Hz.
### CAN ID - 0x08586600 | (SID \<\< 2)
The ESC Status 2 message CAN ID is: 0x08586600 | (SID \<\< 2)
Where SID is the SID of the device sending the message.
For SID 1 the CAN ID is: 0x08586604
**Advanced:**
| **FID** | **CFC** | **CID** |
| ------------------- | ------- | ---------- |
| Device (Default 11) | 51 | Device SID |
### CAN Payload
The CAN payload is structured as follows:
| **Bytes** | **Datatype** | **Content** |
| --------- | ------------ | --------------------------------------------- |
| 0-1 | INT16 | Bridge Temperature (°C) |
| 2-3 | INT16 | Motor Temperature (°C) |
| 4-5 | UINT16 | Status Flags |
| 6-7 | UINT16 | Milliseconds (ms) since last throttle command |
### Status Flags
The status flags field of the ESC Status 2 message is a bitfield, where each bit corresponds to a flag indicating device state. The flag mapping is below.
| **Bit Position** | **Flag** |
| ---------------- | ---------------------------- |
| 0 | Motor Armed |
| 1 | Motor Running |
| 2 | Over Temperature Error |
| 3 | Bus Over-Current Error |
| 4 | Phase Over-Current Error |
| 5 | Bus Over-Voltage Error |
| 6 | Bus Under-Voltage Error |
| 7 | Voltage Ripple Error |
| 8 | Signal Loss Error |
| 9 | Motor Saturated Error |
| 10 | Motor Over-Temperature Error |
| 11 | RPM Limit Reached Error |
| 12 | Device In Error State |
| 13 | Output Shorted Error |
| 14 | Startup Checks Failed Error |
## ESC Status 3
The ESC Status 3 telemetry broadcast is sent by each ESC at a configurable frequency, default 10Hz.
### CAN ID - 0x08586800 | (SID \<\< 2)
The ESC Status 3 message CAN ID is: 0x08586800 | (SID \<\< 2)
Where SID is the SID of the device sending the message.
For SID 1 the CAN ID is: 0x08586804
**Advanced:**
| **FID** | **CFC** | **CID** |
| ------------------- | ------- | ---------- |
| Device (Default 11) | 52 | Device SID |
### CAN Payload
The CAN payload is structured as follows:
| **Bytes** | **Datatype** | **Content** |
| --------- | ------------ | --------------------------------------------------------------------------- |
| 0-1 | INT16 | Output Power Percentage (relative to configured voltage and current limits) |
| 2-3 | INT16 | Input Duty Cycle Percentage |
| 4-5 | INT16 | Output Duty Cycle Percentage |
| 6-7 | INT16 | Motor Angle (Degrees) |
