Actuator control by can


In uavcan_main.cpp the array controls has all value arrays by topics actuator_controls[0-4], but in a mixer and further at transfer to the bus uses only data from actuator_controls_0. I need to take data from actuator_controls_1 by can.
why it works this way and how do I get data from the actuator_controls_1?
Also: what is topic ORB_ID(actuator_direct), it is not exists at uorb graph 1
Who and where take values to it?

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