ArduPlane Actuator Write

Set actuator values for motors and servos

Since R2025b

Add-On Required: This feature requires the UAV Toolbox Support Package for ArduPilot^® Autopilots add-on.

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Libraries:
UAV Toolbox Support Package for ArduPilot Autopilots / Controller Interface Blocks

Description

The ArduPlane Actuator Write block writes motor and servo actuator values over the PWM and UAVCAN interfaces. The ArduPlane Actuator Write block accepts single scalar values between -1 to 1 as input and writes those values to the selected motors or servos.

An input value of 1 indicates maximum output, a value of 0 centers the servos or sets the motors to their lowest possible thrust, and an input of -1 indicates the maximum output but in the reverse direction. However, for motors that do not support reverse operation, any value less than zero stops the motor.

The block accepts single scalar values between -1 to 1 as input and writes those values to the selected Motors/Servos. An input value of 1 indicates maximum output, 0 indicates centered servos or minimum motor thrust, and -1 indicates maximum output in the opposite direction, if supported.

Ports

Input

Throttle — Set motor thrust

-1 | 1

Controls the thrust output of the motor.

A value of -1 commands minimum thrust (or maximum reverse, if supported), 0 sets the motor to idle or no thrust, and 1 commands maximum thrust.

Data Types: Single

Aileron — Set aileron deflection

[-1,1]

Controls the deflection of the aileron control surfaces.

A value of -1 commands maximum deflection to the left, 0 centers the ailerons (neutral position), and 1 commands maximum deflection to the right.

Dependencies

To enable these ports, select the required number of motors (1-12) from the Motors parameter.

Data Types: single

Elevator — Set elevator deflection

-1 | 1

Controls the deflection of the elevator control surface.

A value of -1 commands maximum nose-down deflection, 0 centers the ailerons (neutral position), and 1 commands maximum upward deflection.

Dependencies

To enable these ports, select the required number of servos (1-8) from the Servos parameter.

Data Types: single

Rudder — Set rudder deflection

-1 | 1

Controls the deflection of the rudder control surface.

A value of -1 commands maximum deflection to the left, 0 centers the rudder (neutral position), and 1 commands maximum deflection to the right.

Data Types: single

Motor x — Inputs that accept motor values

[-1,1]

Connect the Motor x inputs to signals that represent single scalar values.

If you provide an input greater than 1 or less than -1, the block internally clips it to 1 and -1, respectively.

Dependencies

To enable these ports, add the required number of motors (1-12) from the Motors selection list.

Data Types: single

TiltMotorsFront — Set front tilt motor angle

[-1,1]

Controls the tilt angle of the front tilt motors.

An input value of 1 commands the motors to the minimum tilt angle, a value of 0 sets the motors to the neutral or intermediate tilt position, and an input of -1 commands the motors to the maximum tilt angle.

Dependencies

To enable these ports, add the parameter from the Motors selection list.

Data Types: single

ThrottleLeft — Set left motor thrust

[-1,1]

Controls the thrust output of the left motor.

An input value of 1 commands minimum thrust (or maximum reverse, if supported), a value of 0 sets the motor to idle or no thrust, and an input of -1 commands maximum thrust.

Dependencies

To enable these ports, add the parameter from the Motors selection list.

Data Types: single

ThrottleRight — Set right motor thrust

[-1,1]

Controls the thrust output of the right motor.

An input value of 1 commands minimum thrust (or maximum reverse, if supported), a value of 0 sets the motor to idle or no thrust, and an input of -1 commands maximum thrust.

Dependencies

To enable these ports, add the parameter from the Motors selection list.

Data Types: single

Flap — Set flap detection

-1 | 1

Controls the deflection of the flap control surface.

An input value of 1 indicates maximum upward deflection, a value of 0 centers the flap (neutral position), and an input of -1 indicates the maximum downward deflection.

Dependencies

To enable these ports, add the parameter from the Motors selection list.

Data Types: single

FlapAuto — Set automatic flap detection

[-1,1]

Controls the automatic deflection of the flap control surface, typically managed by the autopilot during specific flight modes.

An input value of 1 indicates maximum upward deflection, a value of 0 centers the flap (neutral position), and an input of -1 indicates the maximum downward deflection.

Dependencies

To enable these ports, add the parameter from the Motors selection list.

Data Types: single

Airbrakes — Set airbrake deployment

[-1,1]

Controls the deployment of the airbrake surfaces.

An input value of 1 indicates fully retracted airbrakes, a value of 0 sets the airbrakes to the neutral (undeployed) position, and an input of -1 indicates fully deployed airbrakes .

Dependencies

To enable these ports, add the parameter from the Motors selection list.

Data Types: single

Note

The following outputs selected as motors might not function as expected:

• Flap

• FlapAuto

• Airbrakes

This is because, ArduPilot manages these flight control entities (Flap, FlapAuto, Airbrakes) based on internally calculated values. For example:

• The values for Flap and FlapAuto are set by ArduPilot depending on the current flight_stage and control_mode, which determine whether manual or automatic flap inputs are used.

• Airbrakes are controlled by ArduPilot based on reverse thrust logic and/or manual RC channel input.

As a result, any values you set for these outputs may be overridden by ArduPilot’s internal recalculations.

FlaperonLeft — Set left flaperon deflection

-1 | 1

Controls the deflection of the left flaperon control surface.

An input value of 1 indicates maximum downward deflection, a value of 0 centers the flaperon (neutral position), and an input of -1 indicates the maximum upward deflection.

Dependencies

To enable this port, add the parameter from the Servos selection list.

Data Types: single

Note

The FlaperonRight and FlaperonLeft outputs selected as servos might not function as expected. FlaperonRight and FlaperonLeft are implemented as a mixer between aileron input and a percentage of flap input. The flap component can be sourced from either a manual channel or from automatic flap control, depending on the current configuration and flight mode.

FlaperonRight — Set right flaperon deflection

-1 | 1

Controls the deflection of the right flaperon control surface.

An input value of 1 indicates maximum downward deflection, a value of 0 centers the flaperon (neutral position), and an input of -1 indicates the maximum upward deflection.

Dependencies

To enable this port, add the parameter from the Servos selection list.

Data Types: single

ElevonLeft — Set left elevon deflection

-1 | 1

Controls the deflection of the left elevon control surface.

An input value of 1 indicates maximum downward deflection, a value of 0 centers the elevon (neutral position), and an input of -1 indicates the maximum upward deflection.

Dependencies

To enable this port, add the parameter from the Servos selection list.

Data Types: single

ElevonRight — Set right elevon deflection

-1 | 1

Controls the deflection of the right elevon control surface.

An input value of 1 indicates maximum downward deflection, a value of 0 centers the elevon (neutral position), and an input of -1 indicates the maximum upward deflection.

Dependencies

To enable this port, add the parameter from the Servos selection list.

Data Types: single

VTailLeft — Set left V-tail surface deflection

-1 | 1

Controls the deflection of the left V-tail control surface.

An input value of 1 commands maximum downward deflection, a value of 0 centers the V-tail surface (neutral position), and an input of -1 indicates the maximum upward deflection.

Dependencies

To enable this port, add the parameter from the Servos selection list.

Data Types: single

VTailRight — Set right V-tail surface deflection

-1 | 1

Controls the deflection of the right V-tail control surface.

An input value of 1 indicates maximum downward deflection, a value of 0 centers the V-tail surface (neutral position), and an input of -1 indicates the maximum upward deflection.

Dependencies

To enable this port, add the parameter from the Servos selection list.

Data Types: single

Note

The VTailRight and VTailLeft, ElevonRight, and ElevonLeft outputs selected as servos might not function as expected. These are used to run these mixers:

• V-tail mixer: combines elevator and rudder controls

• Elevon mixer: combines aileron and elevator controls

TiltMotorsRear — Set rear tilt motor angle

-1 | 1

Controls the tilt angle of the rear tilt motors.

An input value of 1 commands the motors to the minimum tilt angle, a value of 0 sets the motors to the neutral or intermediate tilt position, and an input of -1commands the motors to the maximum tilt angle.

Dependencies

To enable this port, add the parameter from the Servos selection list.

Data Types: single

TiltMotorRearLeft — Set rear left tilt motor angle

-1 | 1

Controls the tilt angle of the rear left tilt motor

An input value of 1 commands the motors to the minimum tilt angle, a value of 0 sets the motors to the neutral or intermediate tilt position, and an input of -1commands the motors to the maximum tilt angle.

Dependencies

To enable this port, add the parameter from the Servos selection list.

Data Types: single

TiltMotorRearRight — Set rear right tilt motor angle

-1 | 1

Controls the tilt angle of the rear right tilt motor

An input value of 1 indicates maximum downward deflection, a value of 0 centers the V-tail surface (neutral position), and an input of -1 indicates the maximum upward deflection.

Dependencies

To enable this port, add the parameter from the Servos selection list.

Data Types: single

DifferentialSpoilerLeft1 — Set left differential spoiler 1 deflection

-1 | 1

Controls the deflection of the first left differential spoiler surface.

An input value of 1 commands maximum retraction (spoiler fully down), a value of 0 sets the spoiler to the neutral (undeployed) position, and an input of -1 commands maximum extension (spoiler fully up).

Dependencies

To enable this port, add the parameter from the Servos selection list.

Data Types: single

DifferentialSpoilerRight1 — Set right differential spoiler 1 deflection

-1 | 1

Controls the deflection of the first right differential spoiler surface.

An input value of 1 commands maximum retraction (spoiler fully down), a value of 0 sets the spoiler to the neutral (undeployed) position, and an input of -1 commands maximum extension (spoiler fully up).

Dependencies

To enable this port, add the parameter from the Servos selection list.

Data Types: single

Note

The differential spoilers outputs selected as servos might not function as expected. Differential spoilers are implemented as control surfaces split across each wing to provide yaw control, similar to elevons but primarily mixed from the rudder input. The output channels for differential spoilers are set up to respond to a mix of:

• ElevonRight and ElevonLeft

• Aileron and Rudder

DifferentialSpoilerLeft2 — Set left differential spoiler 2 deflection

-1 | 1

Controls the deflection of the second left differential spoiler surface.

An input value of 1 commands maximum retraction (spoiler fully down), a value of 0 sets the spoiler to the neutral (undeployed) position, and an input of -1 commands maximum extension (spoiler fully up). Dashboard Scope (Simulink)

Dependencies

To enable this port, add the parameter from the Servos selection list.

Data Types: single

DifferentialSpoilerRight2 — Set right differential spoiler 2 deflection

-1 | 1

Controls the deflection of the second right differential spoiler surface.

An input value of 1 commands maximum retraction (spoiler fully down), a value of 0 sets the spoiler to the neutral (undeployed) position, and an input of -1 commands maximum extension (spoiler fully up).

Dependencies

To enable this port, add the parameter from the Servos selection list.

Data Types: single

GroundSteering — Set ground steering angle

-1 | 1

Controls the steering angle of the nosewheel or tailwheel for ground maneuvering.

An input value of 1 commands maximum deflection to the left, a value of 0 centers the steering (neutral position), and an input of -1 commands maximum deflection to the right.

Dependencies

To enable this port, add the parameter from the Servos selection list.

Data Types: single

Parameters

Motors selection

Motors function — Motors to write values to

Motor numbers

Add the motors to which you want to send the single scalar values. The number of motor input ports on the block depends on the number of motors you select in this parameter.

Click Add to add a new motor. To remove a motor, first select the required motor, then click Delete.

Servos selection

Servos function — Servos to write values to

Servo numbers

Add the servos to which you want to send the single scalar values. The number of servo input ports on the block depends on the number of servos you select in this parameter.

Click Add to add a new servo. To remove a servo, first select the required servo, then click Delete.

Note

Some servo functions might not operate as expected in certain configurations. For example, TiltMotor functions may not work in specific quadplane configuration, such as Bicopter and Tailsitter configurations, because these outputs are overridden by ArduPilot’s internal logic for those vehicle types.

Version History

Introduced in R2025b