@dakejahl and @hsu-ret Thank you once again. One other confusion. Which signals are logged by The actuator_controls_0, and actuator_outputs topics?
The mixer takes in Torques(roll,pitch,yaw) and Thrust, and converts it to actuator outputs (pwm) values which sets the speed of the motors.
From this, my understanding is that, the ‘actuator_controls_0’ topic records the control_input commands going into the mixer, while the ‘actuator_outputs’ topic records the setpoint pwm values going out of the mixer into the motors. I just want to confirm that I am right.
Or if I’m missing something because, I am unsure if the ‘actuator_controls_0’ are the ones going out of the mixer into the motors and the ‘actuator_outputs’ are the signals measured from the motors.
I am currently trying to plot the signals and compare them with the log analysis from flight review but it would be helpful if someone can comment on this.
Please help clear my confusion.
So after a chat with @RicardoM17 I understand that the ‘actuator_controls_o’ topic indeed records the controller commands going into the mixer which then computes the individual PWM values for each actuator recorded in ‘actuator_outputs_0’. Incase anyone else in future, has similar confusion.