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PX4-Autopilot/docs/ko/msg_docs/ActuatorOutputs.md
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ActuatorOutputs (UORB message)

TOPICS: actuator_outputs actuator_outputs_sim actuator_outputs_debug

Fields

명칭 형식 Unit [Frame] Range/Enum 설명
timestamp uint64 time since system start (microseconds)
noutputs uint32 valid outputs
output float32[16] output data, in natural output units

Constants

명칭 형식 Value 설명
NUM_ACTUATOR_OUTPUTS uint8 16
NUM_ACTUATOR_OUTPUT_GROUPS uint8 4 for sanity checking

Source Message

Source file (GitHub)

:::details Click here to see original file

uint64 timestamp				# time since system start (microseconds)
uint8 NUM_ACTUATOR_OUTPUTS		= 16
uint8 NUM_ACTUATOR_OUTPUT_GROUPS	= 4	# for sanity checking
uint32 noutputs				# valid outputs
float32[16] output				# output data, in natural output units

# actuator_outputs_sim is used for SITL, HITL & SIH (with an output range of [-1, 1])
# TOPICS actuator_outputs actuator_outputs_sim actuator_outputs_debug

:::