| 摘要 |
An apparatus and method for controlling an actuator. A plurality of commands for the actuator are received from a number of primary controllers by a command lane and a monitor lane. The command lane selects a first selected number of commands from the plurality of commands using a selection rule. The monitor lane selects a second selected number of commands from the plurality of commands using the selection rule and generates a check value for the second selected number of commands. The first selected number of commands from the command lane and the check value from the monitor lane are combined to form an actuator control command message comprising the first selected number of commands and the check value. The actuator control command message is sent to an actuator controller for controlling the actuator. |
