#
# Nested type.
# Single actuator command.
#

uint8 actuator_id

#
# Whether the units are linear or angular depends on the actuator type.
#
uint8 COMMAND_TYPE_UNITLESS     = 0     # [-1, 1]
uint8 COMMAND_TYPE_POSITION     = 1     # meter or radian
uint8 COMMAND_TYPE_FORCE        = 2     # Newton or Newton metre
uint8 COMMAND_TYPE_SPEED        = 3     # meter per second or radian per second
uint8 command_type

#
# Value of the above type
#
float16 command_value