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ActuatorMotors.msg - uORB docs #24818

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Merged
merged 7 commits into from
Jun 12, 2025
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ActuatorMotors.msg - uORB docs #24818

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ActuatorMotors.msg - uORB docs
hamishwillee May 8, 2025
302b91f
Update msg/versioned/ActuatorMotors.msg
hamishwillee May 8, 2025
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Update msg/versioned/ActuatorMotors.msg
hamishwillee May 8, 2025
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Update msg/versioned/ActuatorMotors.msg
hamishwillee May 14, 2025
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Update msg/versioned/ActuatorMotors.msg
hamishwillee May 14, 2025
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units/range first
hamishwillee May 22, 2025
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Remove field terminating full stops
hamishwillee Jun 12, 2025
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13 changes: 7 additions & 6 deletions msg/versioned/ActuatorMotors.msg
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Original file line number Diff line number Diff line change
@@ -1,15 +1,16 @@
# Motor control message
#
# Normalised thrust setpoint for up to 12 motors.
# Published by the vehicle's allocation and consumed by the ESC protocol drivers e.g. PWM, DSHOT, UAVCAN.

uint32 MESSAGE_VERSION = 0

uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
uint64 timestamp # [us] Time since system start
uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on

uint16 reversible_flags # bitset which motors are configured to be reversible
uint16 reversible_flags # Bitset indicating which motors are configured to be reversible

uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
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What is this and where is it used?

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@MaEtUgR ^^^ This still looks weird. Needs explanation.

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But if not, let's still merge!


uint8 NUM_CONTROLS = 12
float32[12] control # range: [-1, 1], where 1 means maximum positive thrust,
# -1 maximum negative (if not supported by the output, <0 maps to NaN),
# and NaN maps to disarmed (stop the motors)
float32[12] control # [@range -1, 1] Normalized thrust. where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors)
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