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docs/en/msg_docs/NeuralControl.md
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@@ -1,12 +1,32 @@
---
pageClass: is-wide-page
---
# NeuralControl (UORB message)
Neural control
Neural control.
Debugging topic for the Neural controller, logs the inputs and output vectors of the neural network, and the time it takes to run
Publisher: mc_nn_control
Subscriber: logger
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/NeuralControl.msg)
**TOPICS:** neural_control
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| --------------- | ------------- | ------------ | ---------- | ---------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| observation | `float32[15]` | | | Observation vector (pos error (3), att (6d), lin vel (3), ang vel (3)) |
| network_output | `float32[4]` | | | Output from neural network |
| controller_time | `int32` | us | | Time spent from input to output |
| inference_time | `int32` | us | | Time spent for NN inference |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/NeuralControl.msg)
::: details Click here to see original file
```c
# Neural control
@@ -22,5 +42,6 @@ float32[4] network_output # Output from neural network
int32 controller_time # [us] Time spent from input to output
int32 inference_time # [us] Time spent for NN inference
```
:::