# ESC telemetry rate

Source: https://forum.modalai.com/topic/3464/esc-telemetry-rate
Category: ESCs, Sensors and Accessories (https://forum.modalai.com/category/15/escs-sensors-and-accessories)
Tags: esc
Posted: 2024-05-21 18:58:01 UTC by hanzichi
Replies: 3 · Views: 714

## hanzichi · 2024-05-21 18:58:01 UTC

Hi - I'm running the 4in1 mini connected to px4. I have the esc and battery status message and I was wondering if the ESC telemetry rate can be increased. I can increase it on the px4 side, but that doesn't increase the rate at which the ESC is actually reporting. It seems to be set at 5-10Hz. Thanks in advance.

## Reply by Alex Kushleyev (ModalAI staff) · 2024-05-21 19:36:53 UTC

@hanzichi this is currently hardcoded to 10hz here : https://github.com/modalai/px4-firmware/blob/voxl-dev/src/drivers/actuators/voxl_esc/voxl_esc.hpp#L240

you could change it to a higher update rate, but you would need to re-build PX4 for voxl2.

Perhaps there should be a param for this.. (note to self).

Alex

## Reply by 0x45 · 2024-05-21 19:44:20 UTC (in reply to Alex Kushleyev)

@Alex-Kushleyev What you mentioned is modifying the ESC telemetry rate from the PX4 side. I think what @hanzichi was looking for is the rate at which the ESC produces ESC_PACKET_TYPE_FB_POWER_STATUS packet to PX4. I would be great if this was a parameter in the voxl-esc-tools that are uploaded directly to the esc

## Reply by Alex Kushleyev (ModalAI staff) · 2024-05-21 19:48:39 UTC (in reply to 0x45)

@0x45 , each of the 4 ESCs sends back telemetry to PX4 at 1/4 of the update rate of PX4. On voxl2, the PX4 update rate is 800hz, so each ESC channel sends back telemetry at 200hz (round robin fashion). Only one of the four ESC channels actually measures current on the 4-in-1 mini and FPV ESCs, so you will have the current update (and hence the battery status) received at 200hz, but px4 is throttling publishing of battery status to 10hz.

Alex