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Move Vehicle Command Result Enum defs to Vehicle Command Ack (#19729)

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- As it is always only used for the vehicle command ack message
- It was a duplicate, hence making it error prone for maintainment
- The uORB message comments were updated to make the relationship with
the MAVLink message / enum definitions clear
This commit is contained in:
Junwoo Hwang
2022-07-07 16:15:11 +02:00
committed by GitHub
parent af4038aa7e
commit 32ae00fd44
23 changed files with 212 additions and 209 deletions
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msg/vehicle_command_ack.msg
+21 -12
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@@ -1,11 +1,19 @@
uint64 timestamp # time since system start (microseconds)
uint8 VEHICLE_RESULT_ACCEPTED = 0
uint8 VEHICLE_RESULT_TEMPORARILY_REJECTED = 1
uint8 VEHICLE_RESULT_DENIED = 2
uint8 VEHICLE_RESULT_UNSUPPORTED = 3
uint8 VEHICLE_RESULT_FAILED = 4
uint8 VEHICLE_RESULT_IN_PROGRESS = 5
# Vehicle Command Ackonwledgement uORB message.
# Used for acknowledging the vehicle command being received.
# Follows the MAVLink COMMAND_ACK message definition
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
# Arming denied specific cases
uint16 ARM_AUTH_DENIED_REASON_GENERIC = 0
uint16 ARM_AUTH_DENIED_REASON_NONE = 1
uint16 ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT = 2
@@ -15,10 +23,11 @@ uint16 ARM_AUTH_DENIED_REASON_BAD_WEATHER = 5
uint8 ORB_QUEUE_LENGTH = 4
uint32 command
uint8 result
bool from_external
uint8 result_param1
int32 result_param2
uint32 command # Command that is being acknowledged
uint8 result # Command result
uint8 result_param1 # Also used as progress[%], it can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS
int32 result_param2 # Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied.
uint8 target_system
uint8 target_component
bool from_external # Indicates if the command came from an external source