ActuatorOutputs (UORB message)

TOPICS: actuator_outputs actuator_outputs_sim actuator_outputs_debug

Fields

명칭	형식	Unit [Frame]	Range/Enum	설명
timestamp	uint64			time since system start (microseconds)
noutputs	uint32			valid outputs
output	float32[16]			output data, in natural output units

Constants

명칭	형식	Value	설명
NUM_ACTUATOR_OUTPUTS	uint8	16
NUM_ACTUATOR_OUTPUT_GROUPS	uint8	4	for sanity checking

Source Message

Source file (GitHub)

Details

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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