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.

TOPICS: actuator_motors

Fields

参数名	类型	Unit [Frame]	Range/Enum	描述
timestamp	uint64	us		Time since system start
timestamp_sample	uint64	us		Sampling timestamp of the data this control response is based on
reversible_flags	uint16			Bitset indicating which motors are configured to be reversible
control	float32[12]		[-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)

Constants

参数名	类型	值	描述
MESSAGE_VERSION	uint32	0
ACTUATOR_FUNCTION_MOTOR1	uint8	101	output_functions.yaml Motor.start
NUM_CONTROLS	uint8	12	output_functions.yaml Motor.count

Source Message

Source file (GitHub)

Details

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# 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 # output_functions.yaml Motor.start

uint8 NUM_CONTROLS = 12 # output_functions.yaml Motor.count
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)