# 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](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorMotors.msg)

```c
# 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)

```
