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43 lines
2.1 KiB
Markdown
43 lines
2.1 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# ActuatorOutputs (повідомлення UORB)
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**TOPICS:** actuator_outputs actuator_outputs_sim actuator_outputs_debug
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## Fields
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| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
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| --------- | ------------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
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| timestamp | `uint64` | | | time since system start (microseconds) |
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| noutputs | `uint32` | | | valid outputs |
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| output | `float32[16]` | | | output data, in natural output units |
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## Constants
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| Назва | Тип | Значення | Опис |
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| ---------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------- |
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| <a id="#NUM_ACTUATOR_OUTPUTS"></a> NUM_ACTUATOR_OUTPUTS | `uint8` | 16 | |
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| <a id="#NUM_ACTUATOR_OUTPUT_GROUPS"></a> NUM_ACTUATOR_OUTPUT_GROUPS | `uint8` | 4 | for sanity checking |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorOutputs.msg)
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:::details
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Click here to see original file
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```c
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uint64 timestamp # time since system start (microseconds)
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uint8 NUM_ACTUATOR_OUTPUTS = 16
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uint8 NUM_ACTUATOR_OUTPUT_GROUPS = 4 # for sanity checking
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uint32 noutputs # valid outputs
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float32[16] output # output data, in natural output units
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# actuator_outputs_sim is used for SITL, HITL & SIH (with an output range of [-1, 1])
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# TOPICS actuator_outputs actuator_outputs_sim actuator_outputs_debug
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```
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:::
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