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29 lines
1.0 KiB
Markdown
29 lines
1.0 KiB
Markdown
# 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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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorMotors.msg)
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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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