mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
42 lines
1.6 KiB
Markdown
42 lines
1.6 KiB
Markdown
---
|
|
pageClass: is-wide-page
|
|
---
|
|
|
|
# ActuatorOutputs (UORB message)
|
|
|
|
**TOPICS:** actuator_outputs actuator_outputs_sim actuator_outputs_debug
|
|
|
|
## Fields
|
|
|
|
| Name | Type | Unit [Frame] | Range/Enum | Description |
|
|
| --------- | ------------- | ------------ | ---------- | -------------------------------------- |
|
|
| timestamp | `uint64` | | | time since system start (microseconds) |
|
|
| noutputs | `uint32` | | | valid outputs |
|
|
| output | `float32[16]` | | | output data, in natural output units |
|
|
|
|
## Constants
|
|
|
|
| Name | Type | Value | Description |
|
|
| ------------------------------------------------------------------- | ------- | ----- | ------------------- |
|
|
| <a id="#NUM_ACTUATOR_OUTPUTS"></a> NUM_ACTUATOR_OUTPUTS | `uint8` | 16 |
|
|
| <a id="#NUM_ACTUATOR_OUTPUT_GROUPS"></a> NUM_ACTUATOR_OUTPUT_GROUPS | `uint8` | 4 | for sanity checking |
|
|
|
|
## Source Message
|
|
|
|
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorOutputs.msg)
|
|
|
|
::: details Click here to see original file
|
|
|
|
```c
|
|
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
|
|
```
|
|
|
|
:::
|