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send acknowledgement after receiving vehicle wind cmd

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This commit is contained in:
Marco Hauswirth
2024-09-11 11:16:07 +02:00
committed by Mathieu Bresciani
parent 741ea6b707
commit 22c2878cf8
1 changed files with 5 additions and 0 deletions
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src/modules/ekf2/EKF2.cpp
+5
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@@ -571,7 +571,12 @@ void EKF2::Run()
const float wind_direction_accuracy_rad = math::radians(vehicle_command.param4); const float wind_direction_accuracy_rad = math::radians(vehicle_command.param4);
_ekf.resetWindToExternalObservation(vehicle_command.param1, wind_direction_rad, vehicle_command.param2, _ekf.resetWindToExternalObservation(vehicle_command.param1, wind_direction_rad, vehicle_command.param2,
wind_direction_accuracy_rad); 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 #endif // CONFIG_EKF2_WIND
command_ack.timestamp = hrt_absolute_time();
_vehicle_command_ack_pub.publish(command_ack);
} }
} }
} }