# RawCommand values range

**URL:** <https://forum.zubax.com/t/rawcommand-values-range/1033>\
**Category:** Electric drives\
**Created:** [July 30, 2018, 10:33am UTC](https://forum.zubax.com/t/rawcommand-values-range/1033 "2018-07-30T10:33:01Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![a6a3uh](https://forum.zubax.com/letter_avatar_proxy/v4/letter/a/3d9bf3/32.png) [@a6a3uh](https://forum.zubax.com/u/a6a3uh)\
**Post date:** [July 30, 2018, 10:33am UTC](https://forum.zubax.com/t/rawcommand-values-range/1033/1 "2018-07-30T10:33:02Z")

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Hi! I see RawCommand for [Orel 20](https://zubax.com/products/orel_20) [Sapog](https://files.zubax.com/products/io.px4.sapog/Sapog_v2_Reference_Manual.pdf) fw looks the same as [Voltage control mode](https://forum.zubax.com/t/quick-start-guide-for-myxa-v0-1/911/2) for [Telega](https://zubax.com/technologies/telega) fw. And as described in reference for Sapog it supposed to be in range 0% - 100%. Actually I see it varies 0 - 8000 in my setup with Pixhawk (probably full range 0 - 10000 though). Did not found whether this fixed point scaling is documented somewhere. So this is something like 0 is 0 duty cycle and 10000 is 100% duty cycle for inverter?

This stuff works the same way on both fw Sapog and Telega?

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<div class="post-metadata">

**Author:** ![pavel-kirienko](https://forum.zubax.com/user_avatar/forum.zubax.com/pavel-kirienko/32/180_2.png) [@pavel-kirienko](https://forum.zubax.com/u/pavel-kirienko)\
**Post date:** [July 30, 2018, 10:45am UTC](https://forum.zubax.com/t/rawcommand-values-range/1033/2 "2018-07-30T10:45:23Z")

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> This stuff works the same way on both fw Sapog and Telega?

Yes.

> Did not found whether this fixed point scaling is documented somewhere.

It is documented in the [UAVCAN specification](https://uavcan.org/Specification/7._List_of_standard_data_types/#rawcommand).

> Actually I see it varies 0 - 8000 in my setup with Pixhawk (probably full range 0 - 10000 though).

The range is [-8192, 8191]