px4-firmware/msg/ActuatorOutputs.msg

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
beautify some identation 2018-08-07 10:42:32 -03:00			`uint64 timestamp # time since system start (microseconds)`
Move actuator_outputs topic into message generation 2015-05-25 13:11:03 -03:00			`uint8 NUM_ACTUATOR_OUTPUTS = 16`
			`uint8 NUM_ACTUATOR_OUTPUT_GROUPS = 4 # for sanity checking`
			`uint32 noutputs # valid outputs`
beautify some identation 2018-08-07 10:42:32 -03:00			`float32[16] output # output data, in natural output units`
hitl,sitl,sih: use separate actuator_outputs_sim for SYS_CTRL_ALLOC==1 - removes the need to do type-specific rescaling of pwm to normalized values - allows to run physical output drivers alongside HIL/SIH 2022-02-09 08:36:27 -04:00
			`# actuator_outputs_sim is used for SITL, HITL & SIH (with an output range of [-1, 1])`
Improve logging for Modal IO ESC (#21188) - always publish esc_status - when enabled via MODAL_IO_VLOG param, enable actuator debug output - for modal_io commands, use ESC HW ID values instead of motor number for easier use - publish esc_status message for command line commands - Uncommented the code that fills in the cmdcount and power fields in the esc_status topic --------- Co-authored-by: Travis Bottalico <travis@modalai.com> 2023-03-06 10:51:22 -04:00			`# TOPICS actuator_outputs actuator_outputs_sim actuator_outputs_debug`