> For the complete documentation index, see [llms.txt](https://px4.gitbook.io/px4-user-guide/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://px4.gitbook.io/px4-user-guide/development/middleware/msg_docs/actuatoroutputs.md).

# ActuatorOutputs

[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorOutputs.msg)

```c
uint64 timestamp				# time since system start (microseconds)
uint8 NUM_ACTUATOR_OUTPUTS		= 16
uint8 NUM_ACTUATOR_OUTPUT_GROUPS	= 4	# for sanity checking
uint32 noutputs				# valid outputs
float32[16] output				# output data, in natural output units

# actuator_outputs_sim is used for SITL, HITL & SIH (with an output range of [-1, 1])
# TOPICS actuator_outputs actuator_outputs_sim actuator_outputs_debug

```