We have flown with mutliple A0s before and have several new A0Zs that we would like to integrate on some of our vehicles. We recall having been able to read esc_current and esc_rpm in our PX4 logs, but as of recently noticed that this does not appear to be included in our logs. We also took a look at the Using Telega-based controllers with PX4 autopilots article and noticed that in PX4, “Telemetry of Telega is not supported yet.”
We wanted to see if this is something new, something that needs to be modified in the PX4 logging profile (everything is enabled, high rate, etc) or something that needs to be modified in the configuration of the ESC.
AFAIK, the Cyphal/CAN driver in PX4 does not currently receive any relevant ESC telemetry. A new subscriber needs to be added around this module or nearby:
We used to have all of these readings, with full RPM and current readouts from the Myxas. I am mainly wondering why this is no longer in our logs. We will take a look at this subscriber for the driver but still wondering what changed since then.
