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控制最终输出,四个电机油门
在路径 Firmware/src/lib/mixer_module/mixer_module.cpp 下
void
MixingOutput::setAndPublishActuatorOutputs(unsigned num_outputs, actuator_outputs_s &actuator_outputs)
{
actuator_outputs.noutputs = num_outputs;
for (size_t i = 0; i < num_outputs; ++i) {
actuator_outputs.output[i] = _current_output_value[i];
}
actuator_outputs.timestamp = hrt_absolute_time();
_outputs_pub.publish(actuator_outputs);
}