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58 lines
4.7 KiB
Markdown
58 lines
4.7 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# ActuatorMotors (повідомлення UORB)
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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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| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
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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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| Назва | Тип | Значення | Опис |
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| --------------------------------------------------------------------------------------------------------- | -------- | -------- | -------------------------------------------------------------------------------------- |
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| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
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| <a id="#ACTUATOR_FUNCTION_MOTOR1"></a> ACTUATOR_FUNCTION_MOTOR1 | `uint8` | 101 | output_functions.yaml Motor.start |
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| <a id="#NUM_CONTROLS"></a> NUM_CONTROLS | `uint8` | 12 | output_functions.yaml Motor.count |
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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
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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 # output_functions.yaml Motor.start
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uint8 NUM_CONTROLS = 12 # output_functions.yaml Motor.count
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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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