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ActuatorMotors.msg - uORB docs

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Hamish Willee 2025-05-08 13:50:14 +10:00
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msg/versioned/ActuatorMotors.msg
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@ -1,15 +1,16 @@
# Motor control message
#
# Normalised thrust setpoint for up to 12 motors.
# This is scaled by output drivers to particular output, such as PWM or CAN.
uint32 MESSAGE_VERSION = 0
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
uint64 timestamp # Time since system start [us]
uint64 timestamp_sample # Timestamp of the data this control response is based on was sampled [us]
uint16 reversible_flags # bitset which motors are configured to be reversible
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], where 1 means maximum positive thrust,
# -1 maximum negative (if not supported by the output, <0 maps to NaN),
# and NaN maps to disarmed (stop the motors)
float32[12] control # Normalized thrust. [@range -1, 1] 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).