DroneCAN Telemetry

dronecan telemetry is sent using the following messages, each message type has a configurable frequency to be sent at, see 1034 esc status this is the primary dronecan esc telemetry message, by default it is sent at 10 hz the implementation of the error count field deviates from the dronecan specification as described below https //github com/dronecan/dsdl/blob/master/uavcan/equipment/esc/1034 status uavcan error flags the exact structure is currently undergoing integration and testing and may change in the future please refer to changelogs for more information to quickly reveal error conditions and warnings, the esc status message error count field is used as a custom error/warning flag bitfield instead of counting total errors this deviates from the dronecan specification when there are no errors, this field will always read 0 when an error or warning condition is active, the most significant bit (msb, bit index 23) is set to signal that this is a custom warning from there, the flags are set to true according to the following conditions true 220,220,221left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type 1036 esc status extended this message contains additional esc telemetry by default this is sent at 1 hz https //github com/dronecan/dsdl/blob/master/uavcan/equipment/esc/1036 statusextended uavcan status flags the status flags field is used to communicate more states by default, this is at a lower frequency to the 1034 status message, and is used for less time critical statuses true 220,220,221left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type left unhandled content type 1091 circuit status esc 2 on the nano drive 4lpi has a current sensor on the bus power input for all 4 units and reports overall bus current telemetry using the circuit status message the settings for this message exist on each of the 4 escs but only affect esc 2 https //github com/dronecan/dsdl/blob/master/uavcan/equipment/power/1091 circuitstatus uavcan error flags the circuit status error flags field is unused