px4-firmware/msg/actuator_test.msg

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uint64 timestamp # time since system start (microseconds)
# Topic to test individual actuator output functions
# Note: this is only used with SYS_CTRL_ALLOC=1
uint8 ACTION_RELEASE_CONTROL = 0 # exit test mode for the given function
uint8 ACTION_DO_CONTROL = 1 # enable actuator test mode
uint8 FUNCTION_MOTOR1 = 101
uint8 MAX_NUM_MOTORS = 12
uint8 FUNCTION_SERVO1 = 201
uint8 MAX_NUM_SERVOS = 8
uint8 action # one of ACTION_*
uint16 function # actuator output function
float32 value # range: [-1, 1], where 1 means maximum positive output,
# 0 to center servos or minimum motor thrust,
# -1 maximum negative (if not supported by the motors, <0 maps to NaN),
# and NaN maps to disarmed (stop the motors)
uint32 timeout_ms # timeout in ms after which to exit test mode (if 0, do not time out)
uint8 ORB_QUEUE_LENGTH = 8