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actuator_group_test

PX4 capability domain: system-control. PX4 mapping: MAV_CMD_ACTUATOR_GROUP_TEST. Command to test groups of related actuators together. This might include groups such as the actuators that contribute to roll, pitch, or yaw torque, actuators that contribute to thrust in x, y, z axis, tilt mechanisms, flaps and spoilers, and so on. This is similar to MAV_CMD_ACTUATOR_TEST, except that multiple actuators may be affected. Different groups may also affect the same actuators (as in the case of controls that affect torque in different axes).

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Request Params

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vendor
string
必填
Fixed value px4
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device_id
string
必填
Target PX4 device ID
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command_type
string
必填
Fixed value actuator_group_test
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idempotency_key
string
必填
Idempotency key; repeated requests return the same command
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timeout_seconds
integer
Timeout in seconds, range 0~300
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payload
object
必填
Typed request payload for this command. Field names are generated from PX4 MAVLink XML labels, but callers do not send raw param1..param7 fields.
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payload.group
number
Meaning: Group, enum ACTUATOR_TEST_GROUP; maps to MAVLink parameter 1 in the PX4 frame.
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payload.value
number
Meaning: Value; maps to MAVLink parameter 2 in the PX4 frame.

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PX4 Frame Mapping

  • MAVLink command: MAV_CMD_ACTUATOR_GROUP_TEST
  • Command ID: 309
  • Default transport: COMMAND_LONG
  • Source XML: development.xml
  • Completion: COMMAND_ACK
  • Guard: real PX4 downlink is disabled by default; guarded mode requires explicit authorization and a ready transport.

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Create Response

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command_id
string
Platform command ID, used for follow-up queries
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status
string
Acceptance status: ACCEPTED
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accepted_at
string(datetime)
Command acceptance time (UTC)

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Query Response

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command_id
string
Platform command ID
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status
string
Execution status: ACCEPTED / DELIVERED / SUCCEEDED / FAILED / TIMED_OUT / UNMATCHED_RESPONSE
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vendor
string
Vendor identifier; fixed value px4
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device_id
string
Target PX4 device ID
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command_type
string
PX4 command type
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response_code
string
Mapped COMMAND_ACK.result value
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response_message
string
PX4 acknowledgement summary
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vendor_response
object
Raw PX4 acknowledgement summary, including MAVLink command ID and transport

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PX4 ACK Mapping

After sending the frame, the PX4 agent waits for COMMAND_ACK and correlates the response by command id. Disabled mode sends no frame and completes with a rejected lifecycle result. 
curl -X POST "/api/v1/open/downlink/commands" \
  -H "Content-Type: application/json" \
  -H "X-Api-Id: YOUR_API_ID" \
  -H "X-Api-Timestamp: YOUR_UNIX_SECONDS" \
  -H "X-Api-Nonce: YOUR_NONCE" \
  -H "X-Api-Signature: YOUR_SIGNATURE" \
  -d "{\"vendor\":\"px4\",\"device_id\":\"px4-real-1\",\"command_type\":\"actuator_group_test\",\"payload\":{\"group\":0,\"value\":0},\"idempotency_key\":\"req-actuator_group_test-001\",\"timeout_seconds\":30}"

curl "/api/v1/open/downlink/commands/8cdb5bf3-8902-c5f7-f9aa-dc7fa0af1de0"

{
  "command_id": "8cdb5bf3-8902-c5f7-f9aa-dc7fa0af1de0",
  "status": "ACCEPTED",
  "accepted_at": "2026-06-15T00:00:00Z"
}