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63 lines
4.6 KiB
Markdown
63 lines
4.6 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# ActuatorTest (повідомлення UORB)
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**TOPICS:** actuator_test
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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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| action | `uint8` | | | one of ACTION\_\* |
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| function | `uint16` | | | actuator output function |
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| value | `float32` | | | range: [-1, 1], where 1 means maximum positive output, |
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| timeout_ms | `uint32` | | | timeout in ms after which to exit test mode (if 0, do not time out) |
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## Constants
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| Назва | Тип | Значення | Опис |
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| ----------------------------------------------------------------------------------------------------- | ------- | -------- | -------------------------------------------------------------------------------------------------------------------- |
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| <a id="#ACTION_RELEASE_CONTROL"></a> ACTION_RELEASE_CONTROL | `uint8` | 0 | exit test mode for the given function |
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| <a id="#ACTION_DO_CONTROL"></a> ACTION_DO_CONTROL | `uint8` | 1 | enable actuator test mode |
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| <a id="#FUNCTION_MOTOR1"></a> FUNCTION_MOTOR1 | `uint8` | 101 | |
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| <a id="#MAX_NUM_MOTORS"></a> MAX_NUM_MOTORS | `uint8` | 12 | |
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| <a id="#FUNCTION_SERVO1"></a> FUNCTION_SERVO1 | `uint8` | 201 | |
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| <a id="#MAX_NUM_SERVOS"></a> MAX_NUM_SERVOS | `uint8` | 8 | |
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| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 16 | > = MAX_NUM_MOTORS to support code in esc_calibration |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorTest.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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# Topic to test individual actuator output functions
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uint8 ACTION_RELEASE_CONTROL = 0 # exit test mode for the given function
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uint8 ACTION_DO_CONTROL = 1 # enable actuator test mode
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uint8 FUNCTION_MOTOR1 = 101
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uint8 MAX_NUM_MOTORS = 12
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uint8 FUNCTION_SERVO1 = 201
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uint8 MAX_NUM_SERVOS = 8
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uint8 action # one of ACTION_*
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uint16 function # actuator output function
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float32 value # range: [-1, 1], where 1 means maximum positive output,
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# 0 to center servos or minimum motor thrust,
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# -1 maximum negative (if not supported by the motors, <0 maps to NaN),
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# and NaN maps to disarmed (stop the motors)
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uint32 timeout_ms # timeout in ms after which to exit test mode (if 0, do not time out)
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uint8 ORB_QUEUE_LENGTH = 16 # >= MAX_NUM_MOTORS to support code in esc_calibration
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```
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:::
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