Meaning of esc_state for M0129 Mini 4-in-1 ESC

[schew]

Hi all,
I would like to ask what the esc_state parameter in esc_status means. Based on the PX4 documentation at https://docs.px4.io/main/en/msg_docs/EscReport, this state is dependent on vendor but I cannot find any mention of it on ModalAI's ESC documentation pages.

Any advice would be appreciated.

[Eric Katzfey]

@schew The ESC states are as follows:
0: idle / not spinning or trying to spin
1: spinning up
2,3: unused
4: very brief transition between spin-up and full back-emf sensing mode (user's commands are not yet executing)
5: back-emf sensing mode (rpm or power control based on user's command)
If there is any issue that causes ESC to think it's stalled or communication timed out, it will go through state 0 and then to 1 if non-zero commands are sent via UART.
The typical start-up sequence is basically 0->1->4->5 and should stay at 5 until you send a zero command or stop sending commands.