Offboard controller

Hi guys,

I would like to know if any of you has already tried the mavlink message ACTUATOR_CONTROL_TARGET to send offboard control commands the drone without involving the inner controller of px4?

It sends normalized torque values to the mixer on the groupe 0: d/dt²(roll, pitch,yaw) and also a throttle value. I have two questions:

  • What does 1 represent for these torque values ? I don’t believe it is a saturated value. How should I interpret it ?
  • What is the throttle input used for ?