ActuatorServos (UORB message)
Servo control message.
Normalised output setpoint for up to 8 servos. Published by the vehicle's allocation and consumed by the actuator output drivers.
TOPICS: actuator_servos
Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
|---|---|---|---|---|
| timestamp | uint64 | us | Time since system start | |
| timestamp_sample | uint64 | us | Sampling timestamp of the data this control response is based on | |
| control | float32[8] | [-1 : 1] | Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed. |
Constants
| Name | Type | Value | Description |
|---|---|---|---|
| MESSAGE_VERSION | uint32 | 0 | |
| NUM_CONTROLS | uint8 | 8 |
Source Message
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c
# Servo control message
#
# Normalised output setpoint for up to 8 servos.
# Published by the vehicle's allocation and consumed by the actuator output drivers.
uint32 MESSAGE_VERSION = 0
uint64 timestamp # [us] Time since system start
uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
uint8 NUM_CONTROLS = 8 #
float32[8] control # [-] [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed.