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57 lines
3.0 KiB
Markdown
57 lines
3.0 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# ActuatorMotors (UORB message)
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Motor control message.
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Normalised thrust setpoint for up to 12 motors.
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Published by the vehicle's allocation and consumed by the ESC protocol drivers e.g. PWM, DSHOT, UAVCAN.
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**TOPICS:** actuator_motors
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## Fields
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| Name | Type | Unit [Frame] | Range/Enum | Description |
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| ---------------- | ------------- | ------------ | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| timestamp | `uint64` | us | | Time since system start |
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| timestamp_sample | `uint64` | us | | Sampling timestamp of the data this control response is based on |
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| reversible_flags | `uint16` | | | Bitset indicating which motors are configured to be reversible |
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| 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) |
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## Constants
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| Name | Type | Value | Description |
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| ----------------------------------------------------------------- | -------- | ----- | ----------- |
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| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 |
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| <a href="#ACTUATOR_FUNCTION_MOTOR1"></a> ACTUATOR_FUNCTION_MOTOR1 | `uint8` | 101 |
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| <a href="#NUM_CONTROLS"></a> NUM_CONTROLS | `uint8` | 12 |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorMotors.msg)
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::: details Click here to see original file
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```c
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# Motor control message
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#
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# Normalised thrust setpoint for up to 12 motors.
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# Published by the vehicle's allocation and consumed by the ESC protocol drivers e.g. PWM, DSHOT, UAVCAN.
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # [us] Time since system start
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uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
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uint16 reversible_flags # [-] Bitset indicating which motors are configured to be reversible
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uint8 ACTUATOR_FUNCTION_MOTOR1 = 101 #
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uint8 NUM_CONTROLS = 12 #
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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)
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```
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:::
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