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17 lines
713 B
Plaintext
17 lines
713 B
Plaintext
# 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 # Time since system start [us]
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uint64 timestamp_sample # Sampling timestamp of the data this control response is based on [us]
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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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