ActuatorOutputs (UORB message)
TOPICS: actuator_outputs actuator_outputs_sim actuator_outputs_debug
Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
|---|---|---|---|---|
| timestamp | uint64 | time since system start (microseconds) | ||
| noutputs | uint32 | valid outputs | ||
| output | float32[16] | output data, in natural output units |
Constants
| Name | Type | Value | Description |
|---|---|---|---|
| NUM_ACTUATOR_OUTPUTS | uint8 | 16 | |
| NUM_ACTUATOR_OUTPUT_GROUPS | uint8 | 4 | for sanity checking |
Source Message
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c
uint64 timestamp # time since system start (microseconds)
uint8 NUM_ACTUATOR_OUTPUTS = 16
uint8 NUM_ACTUATOR_OUTPUT_GROUPS = 4 # for sanity checking
uint32 noutputs # valid outputs
float32[16] output # output data, in natural output units
# actuator_outputs_sim is used for SITL, HITL & SIH (with an output range of [-1, 1])
# TOPICS actuator_outputs actuator_outputs_sim actuator_outputs_debug