Hi @kdeshmu2, the PX4 uORB message reference has a page per message with field descriptions and units where PX4 defines them: https://docs.px4.io/v1.18/en/msg_docs/
For the motor topics on Starling 2 (VOXL ESC), we added a table here: https://docs.modalai.com/voxl-px4-files/#logged-topic-contents
In short:
actuator_motors: motor commands from the control allocator, normalized 0 to 1
actuator_outputs: the same commands scaled by the voxl_esc driver to RPM, between VOXL_ESC_RPM_MIN and VOXL_ESC_RPM_MAX
esc_status: ESC feedback per motor (measured RPM, voltage, current, temperature, power)
The voxl_esc driver source is here if you want to see exactly how the outputs are produced: https://github.com/modalai/px4-firmware/tree/voxl-dev/src/drivers/actuators/voxl_esc
