ActuatorMotors (UORB message)

Motor control message

Normalised thrust setpoint for up to 12 motors. Published by the vehicle's allocation and consumed by the ESC protocol drivers e.g. PWM, DSHOT, UAVCAN.

source file

# Motor control message
#
# Normalised thrust setpoint for up to 12 motors.
# Published by the vehicle's allocation and consumed by the ESC protocol drivers e.g. PWM, DSHOT, UAVCAN.

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

uint16 reversible_flags # Bitset indicating which motors are configured to be reversible

uint8 ACTUATOR_FUNCTION_MOTOR1 = 101

uint8 NUM_CONTROLS = 12
float32[12] control # [@range -1, 1] Normalized thrust. where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors)