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

Source file (GitHub)

Click here to see original file

# 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.