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mavlink: return unsupported frame result when that's the case

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This commit is contained in:
Matthias Grob 2024-05-02 17:32:37 +02:00
parent 3b21f3999f
commit 1d5d96e8f9
2 changed files with 12 additions and 8 deletions
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17
msg/VehicleCommandAck.msg
View File

@ -5,13 +5,16 @@
uint64 timestamp # time since system start (microseconds)
# Result cases. This follows the MAVLink MAV_RESULT enum definition
uint8 VEHICLE_CMD_RESULT_ACCEPTED = 0 # Command ACCEPTED and EXECUTED |
uint8 VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1 # Command TEMPORARY REJECTED/DENIED |
uint8 VEHICLE_CMD_RESULT_DENIED = 2 # Command PERMANENTLY DENIED |
uint8 VEHICLE_CMD_RESULT_UNSUPPORTED = 3 # Command UNKNOWN/UNSUPPORTED |
uint8 VEHICLE_CMD_RESULT_FAILED = 4 # Command executed, but failed |
uint8 VEHICLE_CMD_RESULT_IN_PROGRESS = 5 # Command being executed |
uint8 VEHICLE_CMD_RESULT_CANCELLED = 6 # Command Canceled
uint8 VEHICLE_CMD_RESULT_ACCEPTED = 0 # Command is valid (is supported and has valid parameters), and was executed
uint8 VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1 # Command is valid, but cannot be executed at this time
uint8 VEHICLE_CMD_RESULT_DENIED = 2 # Command is invalid (is supported but has invalid parameters)
uint8 VEHICLE_CMD_RESULT_UNSUPPORTED = 3 # Command is not supported (unknown)
uint8 VEHICLE_CMD_RESULT_FAILED = 4 # Command is valid, but execution has failed
uint8 VEHICLE_CMD_RESULT_IN_PROGRESS = 5 # Command is valid and is being executed
uint8 VEHICLE_CMD_RESULT_CANCELLED = 6 # Command has been cancelled (as a result of receiving a COMMAND_CANCEL message)
uint8 VEHICLE_CMD_RESULT_COMMAND_LONG_ONLY = 7 # Command is only accepted when sent as a COMMAND_LONG
uint8 VEHICLE_CMD_RESULT_COMMAND_INT_ONLY = 8 # Command is only accepted when sent as a COMMAND_INT
uint8 VEHICLE_CMD_RESULT_COMMAND_UNSUPPORTED_MAV_FRAME = 9 # Command is invalid because a frame is required and the specified frame is not supported
# Arming denied specific cases
uint16 ARM_AUTH_DENIED_REASON_GENERIC = 0

3
src/modules/mavlink/mavlink_receiver.cpp
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@ -483,7 +483,8 @@ MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg)
default:
vcmd.frame = vehicle_command_s::FRAME_UNKNOWN;
PX4_ERR("invalid frame %" PRIu8 " for command %" PRIu16, cmd_mavlink.frame, cmd_mavlink.command);
acknowledge(msg->sysid, msg->compid, cmd_mavlink.command, vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED);
acknowledge(msg->sysid, msg->compid, cmd_mavlink.command,
vehicle_command_ack_s::VEHICLE_CMD_RESULT_COMMAND_UNSUPPORTED_MAV_FRAME);
return;
}