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ActuatorServos.msg - uORB docs #24842

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merged 3 commits into from
Jun 12, 2025
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ActuatorServos.msg - uORB docs #24842

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ActuatorServos.msg - uORB docs
hamishwillee May 14, 2025
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unit/range first
hamishwillee May 22, 2025
bbe026d
Update ActuatorServos.msg - remove terminating full stops.
hamishwillee Jun 12, 2025
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11 changes: 6 additions & 5 deletions msg/versioned/ActuatorServos.msg
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Original file line number Diff line number Diff line change
@@ -1,11 +1,12 @@
# Servo control message
#
# Normalised output setpoint for up to 8 servos.
# Published by the vehicle's allocation and consumed by the actuator output drivers.

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

uint8 NUM_CONTROLS = 8
float32[8] control # range: [-1, 1], where 1 means maximum positive position,
# -1 maximum negative,
# and NaN maps to disarmed
float32[8] 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.
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Note, the bit " (if not supported by the output, <0 maps to NaN)" is NEW here - it comes from the ActuatorMotors. Is it also true for servos (if not I will remove)

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