# Peripheral Actuator Control API

{% hint style="info" %}
Related C++ Header in the Auterion SDK:`<auterion_sdk/control/common/peripheral_actuator_controls.hpp>`
{% endhint %}

Auterion SDK provides an interface to control [independent/generic actuators](https://docs.px4.io/main/en/payloads/#generic-actuator-control-in-missions) of the vehicle, that is, actuators which do not control the vehicle's motion or hardware that is not directly integrated with PX4, such as a payload servo. The control interface allows to set the value of up to 6 independent actuators, provided first that the [outputs are configured as Actuator Set x](https://docs.px4.io/main/en/payloads/#generic-actuator-control-with-mavlink).

## Set peripheral actuator values

Instantiate an `auterion::PeripheralActuatorControls` object by passing your `auterion::SDK` instance:

```cpp
auterion::PeripheralActuatorControls peripheral_actuator_controls(sdk);
```

Set your configured actuators to their desired state (in range `[-1, 1]`) using the `set(...)` method:

```cpp
// Set values for actuators 0-2, ignore actuators 3-5
Eigen::Matrix<float, 6, 1> params{-1.F, -.2F, .5F, NAN, NAN, NAN};
peripheral_actuator_controls.set(params);
```

Alternatively, `set(...)` is overloaded to set the value of a specific actuator:

```cpp
float param_value = 0.1F;  // range [-1, 1]
unsigned int actuator_index = 2;    // range [0, numActuators), numActuators = 6
peripheral_actuator_controls.set(param_value, actuator_index);
```