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48 lines
1.9 KiB
Markdown
48 lines
1.9 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# NeuralControl (UORB message)
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Neural control.
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Debugging topic for the Neural controller, logs the inputs and output vectors of the neural network, and the time it takes to run
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Publisher: mc_nn_control
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Subscriber: logger
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**TOPICS:** neural_control
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## Fields
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| Name | Type | Unit [Frame] | Range/Enum | Description |
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| --------------- | ------------- | ------------ | ---------- | ---------------------------------------------------------------------- |
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| timestamp | `uint64` | us | | Time since system start |
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| observation | `float32[15]` | | | Observation vector (pos error (3), att (6d), lin vel (3), ang vel (3)) |
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| network_output | `float32[4]` | | | Output from neural network |
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| controller_time | `int32` | us | | Time spent from input to output |
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| inference_time | `int32` | us | | Time spent for NN inference |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/NeuralControl.msg)
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::: details Click here to see original file
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```c
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# Neural control
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#
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# Debugging topic for the Neural controller, logs the inputs and output vectors of the neural network, and the time it takes to run
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# Publisher: mc_nn_control
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# Subscriber: logger
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uint64 timestamp # [us] Time since system start
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float32[15] observation # Observation vector (pos error (3), att (6d), lin vel (3), ang vel (3))
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float32[4] network_output # Output from neural network
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int32 controller_time # [us] Time spent from input to output
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int32 inference_time # [us] Time spent for NN inference
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```
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:::
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