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9b629a9e95
- removes the need to do type-specific rescaling of pwm to normalized values - allows to run physical output drivers alongside HIL/SIH
9 lines
383 B
Plaintext
9 lines
383 B
Plaintext
uint64 timestamp # time since system start (microseconds)
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uint8 NUM_ACTUATOR_OUTPUTS = 16
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uint8 NUM_ACTUATOR_OUTPUT_GROUPS = 4 # for sanity checking
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uint32 noutputs # valid outputs
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float32[16] output # output data, in natural output units
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# actuator_outputs_sim is used for SITL, HITL & SIH (with an output range of [-1, 1])
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# TOPICS actuator_outputs actuator_outputs_sim
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