Add Support for DroneCAN Status Extended Message

[vertiq-jordan]

This is the Status Extended portion of a prior PR discussed with @dakejahl here #23882. He has handled the Node Status portion in his own PR here: #23890.

Attached is a log where you can see the ESC Status Extended logging.
log_1_2024-11-5-10-08-06.zip

Here's a quick snapshot of the input/output throttle percentages from 3 attached ESCs. One motor is configured purposefully so that the input and output throttles should not match.

[dakejahl]

You need to use uORB::PublicationMulti so that each received ESC index has its own publisher. With your current implementation there is only 1 publisher which means all ESC indices are updated on every received CAN message. If an ESC goes offline the data from the last received message will continue to be published, which is not what you want.

Instead remove the msg that is just an array and create a publication multi handle member var. Don't use a member var for the status data.

[dakejahl]

also maybe add to the high_rate set in logged_topics.cpp

[vertiq-jordan]

You need to use uORB::PublicationMulti so that each received ESC index has its own publisher. With your current implementation there is only 1 publisher which means all ESC indices are updated on every received CAN message. If an ESC goes offline the data from the last received message will continue to be published, which is not what you want.

Instead remove the msg that is just an array and create a publication multi handle member var. Don't use a member var for the status data.

Ah, got it, sorry! I had understood the PublicationMulti as, "There are multiple modules in PX4 who are going to be publishing to this topic," and not necessarily multiple devices that need their own publishers. I think I was just confusing myself by thinking that you might want DSHOT telemetry as well as DroneCAN telemetry at the same time, so you'd have 2 ESC Status reporters. Regardless, I get it now, and will make those changes!

[dakejahl]

nitpicky but I would make this less verbose, just makes it slightly easier to read