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5cade89499
- always publish esc_status - when enabled via MODAL_IO_VLOG param, enable actuator debug output - for modal_io commands, use ESC HW ID values instead of motor number for easier use - publish esc_status message for command line commands - Uncommented the code that fills in the cmdcount and power fields in the esc_status topic --------- Co-authored-by: Travis Bottalico <travis@modalai.com>
9 lines
406 B
Plaintext
9 lines
406 B
Plaintext
uint64 timestamp # time since system start (microseconds)
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uint8 NUM_ACTUATOR_OUTPUTS = 16
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uint8 NUM_ACTUATOR_OUTPUT_GROUPS = 4 # for sanity checking
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uint32 noutputs # valid outputs
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float32[16] output # output data, in natural output units
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# actuator_outputs_sim is used for SITL, HITL & SIH (with an output range of [-1, 1])
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# TOPICS actuator_outputs actuator_outputs_sim actuator_outputs_debug
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