Writing PWM values to servo motors?

if I have to write PWM values to servo, is there a uORB topic I can use? I see a topic actuator_outputs, but I am under the impression that it just contains the current PWM values (maybe I am wrong and this is the uORB topic I should use). The pwm system command uses ioctl. So is ioctl the only way to write the PWM values to servo?

If ioctl is indeed the only way to write pwm values to servo, I am curious how does servo reads the values? Which modules reads the pwm values and passes to the driver?

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