Hi!
As I can tell px4 sends to UAVCAN ESC something like esc.RawCommand which I believe is translated to desired RPM. At least sending esc.RawCommand = 5000 (using Babel adapter) gives ~5000 RPM readings on my setup.
So px4 somehow should know what is the maximum RPM for particular motor in order to properly scale its output commands. Where this parameter is defined?
I see in mixers there are only dimensionless scale values (-1 … +1) translated to integer number (-10000 … 10000).
Thanks in advance!