ActuatorServos (UORB message)

Servo control message.

Normalised output setpoint for up to 15 servos. Published by the vehicle's allocation and consumed by the actuator output drivers.

TOPICS: actuator_servos

Fields

参数名	类型	Unit [Frame]	Range/Enum	描述
timestamp	uint64	us		Time since system start
timestamp_sample	uint64	us		Sampling timestamp of the data this control response is based on
control	float32[15]		[-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.

Constants

参数名	类型	值	描述
MESSAGE_VERSION	uint32	1
NUM_CONTROLS	uint8	15

Source Message

Source file (GitHub)

Details

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# Servo control message
#
# Normalised output setpoint for up to 15 servos.
# Published by the vehicle's allocation and consumed by the actuator output drivers.

uint32 MESSAGE_VERSION = 1

uint64 timestamp # [us] Time since system start
uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on

uint8 NUM_CONTROLS = 15
float32[15] 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.