mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-07-25 22:07:39 +08:00
75 lines
6.3 KiB
Markdown
75 lines
6.3 KiB
Markdown
---
|
|
pageClass: is-wide-page
|
|
---
|
|
|
|
# SystemPower (UORB message)
|
|
|
|
**TOPICS:** system_power
|
|
|
|
## Fields
|
|
|
|
| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
|
|
| -------------------------------------------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------- |
|
|
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
|
|
| <a id="fld_voltage5v_v"></a>voltage5v_v | `float32` | | | peripheral 5V rail voltage |
|
|
| <a id="fld_voltage_payload_v"></a>voltage_payload_v | `float32` | | | payload rail voltage |
|
|
| <a id="fld_sensors3v3"></a>sensors3v3 | `float32[4]` | | | Sensors 3V3 rail voltage |
|
|
| <a id="fld_sensors3v3_valid"></a>sensors3v3_valid | `uint8` | | | Sensors 3V3 rail voltage was read (bitfield). |
|
|
| <a id="fld_usb_connected"></a>usb_connected | `uint8` | | | USB is connected when 1 |
|
|
| <a id="fld_brick_valid"></a>brick_valid | `uint8` | | | brick bits power is good when bit 1 |
|
|
| <a id="fld_usb_valid"></a>usb_valid | `uint8` | | | USB is valid when 1 |
|
|
| <a id="fld_servo_valid"></a>servo_valid | `uint8` | | | servo power is good when 1 |
|
|
| <a id="fld_periph_5v_oc"></a>periph_5v_oc | `uint8` | | | peripheral overcurrent when 1 |
|
|
| <a id="fld_hipower_5v_oc"></a>hipower_5v_oc | `uint8` | | | high power peripheral overcurrent when 1 |
|
|
| <a id="fld_comp_5v_valid"></a>comp_5v_valid | `uint8` | | | 5V to companion valid |
|
|
| <a id="fld_can1_gps1_5v_valid"></a>can1_gps1_5v_valid | `uint8` | | | 5V for CAN1/GPS1 valid |
|
|
| <a id="fld_payload_v_valid"></a>payload_v_valid | `uint8` | | | payload rail voltage is valid |
|
|
|
|
## Constants
|
|
|
|
| Назва | Тип | Значення | Опис |
|
|
| ----------------------------------------------------------------------------------------------- | ------- | -------- | ---- |
|
|
| <a id="#BRICK1_VALID_SHIFTS"></a> BRICK1_VALID_SHIFTS | `uint8` | 0 | |
|
|
| <a id="#BRICK1_VALID_MASK"></a> BRICK1_VALID_MASK | `uint8` | 1 | |
|
|
| <a id="#BRICK2_VALID_SHIFTS"></a> BRICK2_VALID_SHIFTS | `uint8` | 1 | |
|
|
| <a id="#BRICK2_VALID_MASK"></a> BRICK2_VALID_MASK | `uint8` | 2 | |
|
|
| <a id="#BRICK3_VALID_SHIFTS"></a> BRICK3_VALID_SHIFTS | `uint8` | 2 | |
|
|
| <a id="#BRICK3_VALID_MASK"></a> BRICK3_VALID_MASK | `uint8` | 4 | |
|
|
| <a id="#BRICK4_VALID_SHIFTS"></a> BRICK4_VALID_SHIFTS | `uint8` | 3 | |
|
|
| <a id="#BRICK4_VALID_MASK"></a> BRICK4_VALID_MASK | `uint8` | 8 | |
|
|
|
|
## Source Message
|
|
|
|
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SystemPower.msg)
|
|
|
|
:::details
|
|
Click here to see original file
|
|
|
|
```c
|
|
uint64 timestamp # time since system start (microseconds)
|
|
float32 voltage5v_v # peripheral 5V rail voltage
|
|
float32 voltage_payload_v # payload rail voltage
|
|
float32[4] sensors3v3 # Sensors 3V3 rail voltage
|
|
uint8 sensors3v3_valid # Sensors 3V3 rail voltage was read (bitfield).
|
|
uint8 usb_connected # USB is connected when 1
|
|
uint8 brick_valid # brick bits power is good when bit 1
|
|
uint8 usb_valid # USB is valid when 1
|
|
uint8 servo_valid # servo power is good when 1
|
|
uint8 periph_5v_oc # peripheral overcurrent when 1
|
|
uint8 hipower_5v_oc # high power peripheral overcurrent when 1
|
|
uint8 comp_5v_valid # 5V to companion valid
|
|
uint8 can1_gps1_5v_valid # 5V for CAN1/GPS1 valid
|
|
uint8 payload_v_valid # payload rail voltage is valid
|
|
|
|
uint8 BRICK1_VALID_SHIFTS=0
|
|
uint8 BRICK1_VALID_MASK=1
|
|
uint8 BRICK2_VALID_SHIFTS=1
|
|
uint8 BRICK2_VALID_MASK=2
|
|
uint8 BRICK3_VALID_SHIFTS=2
|
|
uint8 BRICK3_VALID_MASK=4
|
|
uint8 BRICK4_VALID_SHIFTS=3
|
|
uint8 BRICK4_VALID_MASK=8
|
|
```
|
|
|
|
:::
|