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52 lines
3.4 KiB
Markdown
52 lines
3.4 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# ActuatorServos (UORB message)
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Servo control message.
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Normalised output setpoint for up to 8 servos.
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Published by the vehicle's allocation and consumed by the actuator output drivers.
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**TOPICS:** actuator_servos
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## Fields
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| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
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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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| control | `float32[8]` | | [-1 : 1] | Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed. |
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## Constants
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| 参数名 | 类型 | 值 | 描述 |
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| ------------------------------------------------------------------ | -------- | - | -- |
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| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
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| <a id="#NUM_CONTROLS"></a> NUM_CONTROLS | `uint8` | 8 | |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorServos.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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# Servo control message
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#
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# Normalised output setpoint for up to 8 servos.
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# Published by the vehicle's allocation and consumed by the actuator output drivers.
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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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uint8 NUM_CONTROLS = 8
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float32[8] control # [-] [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed.
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```
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:::
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