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