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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
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/camera_trigger/camera_trigger.cpp
+7 -7
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@@ -508,7 +508,7 @@ CameraTrigger::Run()
int poll_interval_usec = 50000;
vehicle_command_s cmd{};
unsigned cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
unsigned cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
bool need_ack = false;
// this flag is set when the polling loop is slowed down to allow the camera to power on
@@ -530,7 +530,7 @@ CameraTrigger::Run()
if (now - _last_trigger_timestamp < _min_interval * 1000) {
// triggering too fast, abort
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
} else {
if (commandParamToInt(cmd.param7) == 1) {
@@ -543,7 +543,7 @@ CameraTrigger::Run()
_one_shot = true;
}
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
}
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_TRIGGER_CONTROL) {
@@ -570,7 +570,7 @@ CameraTrigger::Run()
_trigger_enabled = false;
}
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_SET_CAM_TRIGG_DIST) {
PX4_DEBUG("received DO_SET_CAM_TRIGG_DIST");
@@ -608,7 +608,7 @@ CameraTrigger::Run()
_one_shot = true;
}
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_SET_CAM_TRIGG_INTERVAL) {
PX4_DEBUG("received DO_SET_CAM_TRIGG_INTERVAL");
@@ -627,7 +627,7 @@ CameraTrigger::Run()
}
}
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_OBLIQUE_SURVEY) {
PX4_INFO("received OBLIQUE_SURVEY");
@@ -676,7 +676,7 @@ CameraTrigger::Run()
_CAMPOS_num_poses = 0;
}
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
goto unknown_cmd;