From 22c2878cf8dd3a0f183b2a6db573aef643619359 Mon Sep 17 00:00:00 2001 From: Marco Hauswirth Date: Wed, 11 Sep 2024 11:16:07 +0200 Subject: [PATCH] send acknowledgement after receiving vehicle wind cmd --- src/modules/ekf2/EKF2.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp index 38e5660e4f..46a28e469f 100644 --- a/src/modules/ekf2/EKF2.cpp +++ b/src/modules/ekf2/EKF2.cpp @@ -571,7 +571,12 @@ void EKF2::Run() const float wind_direction_accuracy_rad = math::radians(vehicle_command.param4); _ekf.resetWindToExternalObservation(vehicle_command.param1, wind_direction_rad, vehicle_command.param2, wind_direction_accuracy_rad); + command_ack.result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED; +#else + command_ack.result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED; #endif // CONFIG_EKF2_WIND + command_ack.timestamp = hrt_absolute_time(); + _vehicle_command_ack_pub.publish(command_ack); } } }