Some questions about actuator_outputs

PX4 Autopilot
1

1.13.2 version
I am a CN students who just started to learn PX4 for several days.

  1. I want to know how to refresh or update src/lib/mixer_moudle Line 1014, actuator_outputs.output[i] = _current_output_value[i];per seconds,because I try to change the value about actuator_outputs.output, with a P control in my way.But I notice that it will not always change as I want to. So, are there any variables or other circumstances that limit modification? Besides , I tried to low P param to avoid too much high change. But it does’t work. In short , I am trying to dont use the matrix but control each motors in a another way.

Can you tell me what is the purpose of :src/lib/mixer_moudle Line 1018 _outputs_pub.publish(actuator_outputs);
where sub and use it for motors?
3.Can you tell me what is the purpose of :src/lib/mixer_moudle Line 69 → 84
spcial in 73 → 77
_control_subs{
{&interface, ORB_ID(actuator_controls_0)},
{&interface, ORB_ID(actuator_controls_1)},
{&interface, ORB_ID(actuator_controls_2)},
{&interface, ORB_ID(actuator_controls_3)},
Thank you a lot！！

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