px4_ros2::PeripheralActuatorControls Class Reference

Provides control of one or more extra actuators. More...

#include <px4_ros2/control/peripheral_actuators.hpp>

Public Member Functions
	PeripheralActuatorControls (Context &context)
void	set (const Eigen::Matrix< float, kNumActuators, 1 > &values)
void	set (float value, unsigned index=0)

Static Public Attributes
static constexpr int	kNumActuators = 6

Detailed Description

Provides control of one or more extra actuators.

It maps to the 'Peripheral Actuator Set' output functions on the PX4 side. This can be used by a mode independent from the setpoints.

Member Function Documentation

set() [1/2]

void px4_ros2::PeripheralActuatorControls::set

(

const Eigen::Matrix< float, kNumActuators, 1 > &

values

)

Control actuators

Parameters

values

range [-1, 1], NAN=ignore value

set() [2/2]

void px4_ros2::PeripheralActuatorControls::set	(	float	value,
		unsigned	index = 0
	)

Sets a single actuator output

Parameters

value	range [-1, 1]
index	range [0, kNumActuators)

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The documentation for this class was generated from the following file:

• px4_ros2_cpp/include/px4_ros2/control/peripheral_actuators.hpp