In actuator_controls.msg, there are several topics such as “actuator_controls_virtual_fw”, “actuator_controls”, “actuator_controls_0”, “actuator_controls_1”, etc. These are all used in different ways in the fixed wing attitude control module.
How do I know when to use which?
I could not find descriptions of these in the documentation (https://docs.px4.io/master/en/middleware/uorb.html)