Health
Health message containing information about operation, status and error of a beam deflection controller.
Field | Type | Default | Unit |
---|---|---|---|
state |
- |
- |
|
High-level state of module |
|||
state_reason |
string |
- |
- |
Reason for given state. Is not set if state is OK. |
Stats
This message defines the stats that can be retrieved from a beam deflection controller.
Field | Type | Default | Unit |
---|---|---|---|
time |
float |
- |
s |
Current time in s. |
|||
bb_frequency |
float |
- |
Hz |
Current BB frequency estimation (only set when running BB). |
|||
max_mechanical_scan_range |
float |
- |
rad |
Maximum MSR which occured. Observer q1 in case of CL, sensor atan in case of BB. |
|||
min_dac_u0 |
uint32 |
- |
- |
Minimum DAC value wich occured for piezo 0. |
|||
max_dac_u0 |
uint32 |
- |
- |
Maximum DAC value wich occured for piezo 0. |
|||
min_dac_u1 |
uint32 |
- |
- |
Minimum DAC value wich occured for piezo 1. |
|||
max_dac_u1 |
uint32 |
- |
- |
Maximum DAC value wich occured for piezo 1. |
|||
max_cycles |
uint32 |
- |
- |
Maximum amount of cycles needed for control loop. |