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