Actuatortest

ActuatorTest (UORB message)

source file

```c uint64 timestamp # time since system start (microseconds)

Topic to test individual actuator output functions

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 = 16 # >= MAX_NUM_MOTORS to support code in esc_calibration

```