Missing ESC Telemetry Amp Data Causing Motor Failure Warning

dakejahl · July 31, 2025, 9:26pm

It looks like the issue is that only 1 ESC is reporting valid current values. The other ESCs are reporting near 0, which triggers this failsafe:

github.com/PX4/PX4-Autopilot

src/modules/commander/failure_detector/FailureDetector.cpp

0cddd3dfb


      
          			// Check if ESC current is too low
          			if (cur_esc_report.esc_current > FLT_EPSILON) {
          				_motor_failure_esc_has_current[i_esc] = true;
          			}
          
          			if (_motor_failure_esc_has_current[i_esc]) {
          				float esc_throttle = 0.f;
          
          				if (PX4_ISFINITE(actuator_motors.control[i_esc])) {
          					esc_throttle = fabsf(actuator_motors.control[i_esc]);
          				}
          
          				const bool throttle_above_threshold = esc_throttle > _param_fd_motor_throttle_thres.get();
          				const bool current_too_low = cur_esc_report.esc_current < esc_throttle *
          							     _param_fd_motor_current2throttle_thres.get();
          
          				if (throttle_above_threshold && current_too_low && !esc_timed_out) {
          					if (_motor_failure_undercurrent_start_time[i_esc] == 0) {
          						_motor_failure_undercurrent_start_time[i_esc] = time_now;
          					}

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Missing ESC Telemetry Amp Data Causing Motor Failure Warning

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