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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/modules/commander/Arming/ArmAuthorization/ArmAuthorization.cpp
+12 -12
View File
@@ -110,10 +110,10 @@ static uint8_t _auth_method_arm_req_check()
break;
case ARM_AUTH_MISSION_APPROVED:
return vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED;
return vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
default:
return vehicle_command_ack_s::VEHICLE_RESULT_DENIED;
return vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED;
}
/* handling ARM_AUTH_IDLE */
@@ -148,7 +148,7 @@ static uint8_t _auth_method_arm_req_check()
}
return state == ARM_AUTH_MISSION_APPROVED ?
vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED : vehicle_command_ack_s::VEHICLE_RESULT_DENIED;
vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED : vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED;
}
static uint8_t _auth_method_two_arm_check()
@@ -159,14 +159,14 @@ static uint8_t _auth_method_two_arm_check()
break;
case ARM_AUTH_MISSION_APPROVED:
return vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED;
return vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
case ARM_AUTH_WAITING_AUTH:
case ARM_AUTH_WAITING_AUTH_WITH_ACK:
return vehicle_command_ack_s::VEHICLE_RESULT_TEMPORARILY_REJECTED;
return vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
default:
return vehicle_command_ack_s::VEHICLE_RESULT_DENIED;
return vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED;
}
/* handling ARM_AUTH_IDLE */
@@ -179,7 +179,7 @@ static uint8_t _auth_method_two_arm_check()
mavlink_log_info(mavlink_log_pub, "Arm auth: Requesting authorization...");
return vehicle_command_ack_s::VEHICLE_RESULT_TEMPORARILY_REJECTED;
return vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
uint8_t arm_auth_check()
@@ -188,7 +188,7 @@ uint8_t arm_auth_check()
return arm_check_method[_param_com_arm_auth_method]();
}
return vehicle_command_ack_s::VEHICLE_RESULT_DENIED;
return vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED;
}
void arm_auth_update(hrt_abstime now, bool param_update)
@@ -232,11 +232,11 @@ void arm_auth_update(hrt_abstime now, bool param_update)
&& command_ack.target_system == *system_id
&& command_ack.timestamp > auth_req_time) {
switch (command_ack.result) {
case vehicle_command_ack_s::VEHICLE_RESULT_IN_PROGRESS:
case vehicle_command_ack_s::VEHICLE_CMD_RESULT_IN_PROGRESS:
state = ARM_AUTH_WAITING_AUTH_WITH_ACK;
break;
case vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED:
case vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED:
mavlink_log_info(mavlink_log_pub,
"Arm auth: Authorized for the next %" PRId32 " seconds",
command_ack.result_param2);
@@ -244,12 +244,12 @@ void arm_auth_update(hrt_abstime now, bool param_update)
auth_timeout = command_ack.timestamp + (command_ack.result_param2 * 1000000);
return;
case vehicle_command_ack_s::VEHICLE_RESULT_TEMPORARILY_REJECTED:
case vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED:
mavlink_log_critical(mavlink_log_pub, "Arm auth: Temporarily rejected");
state = ARM_AUTH_IDLE;
return;
case vehicle_command_ack_s::VEHICLE_RESULT_DENIED:
case vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED:
default:
switch (command_ack.result_param1) {
case vehicle_command_ack_s::ARM_AUTH_DENIED_REASON_NONE:
src/modules/commander/Arming/PreFlightCheck/checks/preArmCheck.cpp
+1 -1
View File
@@ -240,7 +240,7 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
// check last, and only if everything else has passed
// skip arm authorization check until actual arming attempt
if (arm_authorization_configured && prearm_ok && is_arm_attempt) {
if (arm_auth_check() != vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED) {
if (arm_auth_check() != vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED) {
// feedback provided in arm_auth_check
prearm_ok = false;
}
src/modules/commander/Commander.cpp
+79 -80
View File
@@ -872,7 +872,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
}
/* result of the command */
unsigned cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
unsigned cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
/* request to set different system mode */
switch (cmd.command) {
@@ -889,10 +889,10 @@ Commander::handle_command(const vehicle_command_s &cmd)
_vehicle_status_flags, _commander_state);
if ((main_ret != TRANSITION_DENIED)) {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
mavlink_log_critical(&_mavlink_log_pub, "Reposition command rejected\t");
/* EVENT
* @description Check for a valid position estimate
@@ -903,7 +903,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
}
} else {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
}
}
break;
@@ -1004,10 +1004,10 @@ Commander::handle_command(const vehicle_command_s &cmd)
}
if (main_ret != TRANSITION_DENIED) {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
}
break;
@@ -1051,10 +1051,10 @@ Commander::handle_command(const vehicle_command_s &cmd)
}
if (arming_res == TRANSITION_DENIED) {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
} else {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
/* update home position on arming if at least 500 ms from commander start spent to avoid setting home on in-air restart */
if ((arming_action == vehicle_command_s::ARMING_ACTION_ARM) && (arming_res == TRANSITION_CHANGED)
@@ -1095,7 +1095,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
PX4_WARN("disabling failsafe and lockdown");
}
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
}
break;
@@ -1106,10 +1106,10 @@ Commander::handle_command(const vehicle_command_s &cmd)
if (use_current) {
/* use current position */
if (set_home_position()) {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
} else {
@@ -1142,20 +1142,20 @@ Commander::handle_command(const vehicle_command_s &cmd)
/* mark home position as set */
_vehicle_status_flags.home_position_valid = _home_position_pub.update(home);
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
} else {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED;
}
}
} else {
// COM_HOME_EN disabled
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED;
}
}
break;
@@ -1167,7 +1167,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
_commander_state)) {
mavlink_log_info(&_mavlink_log_pub, "Returning to launch\t");
events::send(events::ID("commander_rtl"), events::Log::Info, "Returning to launch");
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_log_critical(&_mavlink_log_pub, "Return to launch denied\t");
@@ -1176,7 +1176,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
*/
events::send(events::ID("commander_rtl_denied"), {events::Log::Critical, events::LogInternal::Info},
"Return to launch denied");
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
}
break;
@@ -1186,10 +1186,10 @@ Commander::handle_command(const vehicle_command_s &cmd)
if (TRANSITION_CHANGED == main_state_transition(_vehicle_status, commander_state_s::MAIN_STATE_AUTO_TAKEOFF,
_vehicle_status_flags,
_commander_state)) {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else if (_commander_state.main_state == commander_state_s::MAIN_STATE_AUTO_TAKEOFF) {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_log_critical(&_mavlink_log_pub, "Takeoff denied! Please disarm and retry\t");
@@ -1198,7 +1198,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
*/
events::send(events::ID("commander_takeoff_denied"), {events::Log::Critical, events::LogInternal::Info},
"Takeoff denied! Please disarm and retry");
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
}
break;
@@ -1209,14 +1209,14 @@ Commander::handle_command(const vehicle_command_s &cmd)
if (TRANSITION_CHANGED == main_state_transition(_vehicle_status, commander_state_s::MAIN_STATE_AUTO_VTOL_TAKEOFF,
_vehicle_status_flags,
_commander_state)) {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else if (_commander_state.main_state == commander_state_s::MAIN_STATE_AUTO_VTOL_TAKEOFF) {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_log_critical(&_mavlink_log_pub, "VTOL Takeoff denied! Please disarm and retry");
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
break;
@@ -1228,7 +1228,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
mavlink_log_info(&_mavlink_log_pub, "Landing at current position\t");
events::send(events::ID("commander_landing_current_pos"), events::Log::Info,
"Landing at current position");
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_log_critical(&_mavlink_log_pub, "Landing denied! Please land manually\t");
@@ -1237,7 +1237,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
*/
events::send(events::ID("commander_landing_current_pos_denied"), {events::Log::Critical, events::LogInternal::Info},
"Landing denied! Please land manually");
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
}
break;
@@ -1249,7 +1249,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
mavlink_log_info(&_mavlink_log_pub, "Precision landing\t");
events::send(events::ID("commander_landing_prec_land"), events::Log::Info,
"Landing using precision landing");
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_log_critical(&_mavlink_log_pub, "Precision landing denied! Please land manually\t");
@@ -1258,14 +1258,14 @@ Commander::handle_command(const vehicle_command_s &cmd)
*/
events::send(events::ID("commander_landing_prec_land_denied"), {events::Log::Critical, events::LogInternal::Info},
"Precision landing denied! Please land manually");
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
}
break;
case vehicle_command_s::VEHICLE_CMD_MISSION_START: {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED;
// check if current mission and first item are valid
if (_vehicle_status_flags.auto_mission_available) {
@@ -1279,10 +1279,10 @@ Commander::handle_command(const vehicle_command_s &cmd)
_commander_state))
&& (TRANSITION_DENIED != arm(arm_disarm_reason_t::mission_start))) {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
mavlink_log_critical(&_mavlink_log_pub, "Mission start denied\t");
/* EVENT
* @description Check for a valid position estimate
@@ -1303,7 +1303,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
case vehicle_command_s::VEHICLE_CMD_CONTROL_HIGH_LATENCY: {
// if no high latency telemetry exists send a failed acknowledge
if (_high_latency_datalink_heartbeat > _boot_timestamp) {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_FAILED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_FAILED;
mavlink_log_critical(&_mavlink_log_pub, "Control high latency failed! Telemetry unavailable\t");
events::send(events::ID("commander_ctrl_high_latency_failed"), {events::Log::Critical, events::LogInternal::Info},
"Control high latency failed! Telemetry unavailable");
@@ -1330,10 +1330,10 @@ Commander::handle_command(const vehicle_command_s &cmd)
}
if ((main_ret != TRANSITION_DENIED)) {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
mavlink_log_critical(&_mavlink_log_pub, "Orbit command rejected");
}
@@ -1353,13 +1353,13 @@ Commander::handle_command(const vehicle_command_s &cmd)
if (param1 == 0) {
// 0: Do nothing for autopilot
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
#if defined(CONFIG_BOARDCTL_RESET)
} else if ((param1 == 1) && shutdown_if_allowed() && (px4_reboot_request(false, 400_ms) == 0)) {
// 1: Reboot autopilot
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
while (1) { px4_usleep(1); }
@@ -1369,7 +1369,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
} else if ((param1 == 2) && shutdown_if_allowed() && (px4_shutdown_request(400_ms) == 0)) {
// 2: Shutdown autopilot
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
while (1) { px4_usleep(1); }
@@ -1379,14 +1379,14 @@ Commander::handle_command(const vehicle_command_s &cmd)
} else if ((param1 == 3) && shutdown_if_allowed() && (px4_reboot_request(true, 400_ms) == 0)) {
// 3: Reboot autopilot and keep it in the bootloader until upgraded.
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
while (1) { px4_usleep(1); }
#endif // CONFIG_BOARDCTL_RESET
} else {
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_DENIED);
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED);
}
}
@@ -1397,7 +1397,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
if (_arm_state_machine.isArmed() || _arm_state_machine.isShutdown() || _worker_thread.isBusy()) {
// reject if armed or shutting down
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED);
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED);
} else {
@@ -1409,14 +1409,14 @@ Commander::handle_command(const vehicle_command_s &cmd)
(cmd.from_external ? arm_disarm_reason_t::command_external : arm_disarm_reason_t::command_internal))
) {
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_DENIED);
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED);
break;
}
if ((int)(cmd.param1) == 1) {
/* gyro calibration */
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
_vehicle_status_flags.calibration_enabled = true;
_worker_thread.startTask(WorkerThread::Request::GyroCalibration);
@@ -1428,19 +1428,19 @@ Commander::handle_command(const vehicle_command_s &cmd)
} else if ((int)(cmd.param2) == 1) {
/* magnetometer calibration */
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
_vehicle_status_flags.calibration_enabled = true;
_worker_thread.startTask(WorkerThread::Request::MagCalibration);
} else if ((int)(cmd.param3) == 1) {
/* baro calibration */
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
_vehicle_status_flags.calibration_enabled = true;
_worker_thread.startTask(WorkerThread::Request::BaroCalibration);
} else if ((int)(cmd.param4) == 1) {
/* RC calibration */
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
/* disable RC control input completely */
_vehicle_status_flags.rc_calibration_in_progress = true;
mavlink_log_info(&_mavlink_log_pub, "Calibration: Disabling RC input\t");
@@ -1449,39 +1449,38 @@ Commander::handle_command(const vehicle_command_s &cmd)
} else if ((int)(cmd.param4) == 2) {
/* RC trim calibration */
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
_vehicle_status_flags.calibration_enabled = true;
_worker_thread.startTask(WorkerThread::Request::RCTrimCalibration);
} else if ((int)(cmd.param5) == 1) {
/* accelerometer calibration */
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
_vehicle_status_flags.calibration_enabled = true;
_worker_thread.startTask(WorkerThread::Request::AccelCalibration);
} else if ((int)(cmd.param5) == 2) {
// board offset calibration
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
_vehicle_status_flags.calibration_enabled = true;
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
_vehicle_status_flags.calibration_enabled = true;
_worker_thread.startTask(WorkerThread::Request::LevelCalibration);
} else if ((int)(cmd.param5) == 4) {
// accelerometer quick calibration
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
_vehicle_status_flags.calibration_enabled = true;
_worker_thread.startTask(WorkerThread::Request::AccelCalibrationQuick);
} else if ((int)(cmd.param6) == 1 || (int)(cmd.param6) == 2) {
// TODO: param6 == 1 is deprecated, but we still accept it for a while (feb 2017)
/* airspeed calibration */
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
_vehicle_status_flags.calibration_enabled = true;
_worker_thread.startTask(WorkerThread::Request::AirspeedCalibration);
} else if ((int)(cmd.param7) == 1) {
/* do esc calibration */
if (check_battery_disconnected(&_mavlink_log_pub)) {
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
if (_safety.isButtonAvailable() && !_safety.isSafetyOff()) {
mavlink_log_critical(&_mavlink_log_pub, "ESC calibration denied! Press safety button first\t");
@@ -1495,7 +1494,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
}
} else {
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_DENIED);
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED);
}
} else if ((int)(cmd.param4) == 0) {
@@ -1508,10 +1507,10 @@ Commander::handle_command(const vehicle_command_s &cmd)
"Calibration: Restoring RC input");
}
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
} else {
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_UNSUPPORTED);
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED);
}
}
@@ -1523,10 +1522,10 @@ Commander::handle_command(const vehicle_command_s &cmd)
if (_arm_state_machine.isArmed() || _arm_state_machine.isShutdown() || _worker_thread.isBusy()) {
// reject if armed or shutting down
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED);
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED);
} else {
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
// parameter 1: Heading (degrees)
// parameter 3: Latitude (degrees)
// parameter 4: Longitude (degrees)
@@ -1558,28 +1557,28 @@ Commander::handle_command(const vehicle_command_s &cmd)
if (_arm_state_machine.isArmed() || _arm_state_machine.isShutdown() || _worker_thread.isBusy()) {
// reject if armed or shutting down
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED);
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED);
} else {
if (((int)(cmd.param1)) == 0) {
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
_worker_thread.startTask(WorkerThread::Request::ParamLoadDefault);
} else if (((int)(cmd.param1)) == 1) {
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
_worker_thread.startTask(WorkerThread::Request::ParamSaveDefault);
} else if (((int)(cmd.param1)) == 2) {
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
_worker_thread.startTask(WorkerThread::Request::ParamResetAllConfig);
} else if (((int)(cmd.param1)) == 3) {
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
_worker_thread.startTask(WorkerThread::Request::ParamResetSensorFactory);
} else if (((int)(cmd.param1)) == 4) {
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
_worker_thread.startTask(WorkerThread::Request::ParamResetAll);
}
}
@@ -1631,11 +1630,11 @@ Commander::handle_command(const vehicle_command_s &cmd)
default:
/* Warn about unsupported commands, this makes sense because only commands
* to this component ID (or all) are passed by mavlink. */
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_UNSUPPORTED);
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED);
break;
}
if (cmd_result != vehicle_command_s::VEHICLE_CMD_RESULT_UNSUPPORTED) {
if (cmd_result != vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED) {
/* already warned about unsupported commands in "default" case */
answer_command(cmd, cmd_result);
}
@@ -1647,11 +1646,11 @@ unsigned
Commander::handle_command_motor_test(const vehicle_command_s &cmd)
{
if (_arm_state_machine.isArmed() || (_safety.isButtonAvailable() && !_safety.isSafetyOff())) {
return vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
return vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED;
}
if (_param_com_mot_test_en.get() != 1) {
return vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
return vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED;
}
test_motor_s test_motor{};
@@ -1661,13 +1660,13 @@ Commander::handle_command_motor_test(const vehicle_command_s &cmd)
int throttle_type = (int)(cmd.param2 + 0.5f);
if (throttle_type != 0) { // 0: MOTOR_TEST_THROTTLE_PERCENT
return vehicle_command_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
return vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
}
int motor_count = (int)(cmd.param5 + 0.5);
if (motor_count > 1) {
return vehicle_command_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
return vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
}
test_motor.action = test_motor_s::ACTION_RUN;
@@ -1688,18 +1687,18 @@ Commander::handle_command_motor_test(const vehicle_command_s &cmd)
test_motor.driver_instance = 0; // the mavlink command does not allow to specify the instance, so set to 0 for now
_test_motor_pub.publish(test_motor);
return vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
return vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
}
unsigned
Commander::handle_command_actuator_test(const vehicle_command_s &cmd)
{
if (_arm_state_machine.isArmed() || (_safety.isButtonAvailable() && !_safety.isSafetyOff())) {
return vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
return vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED;
}
if (_param_com_mot_test_en.get() != 1) {
return vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
return vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED;
}
actuator_test_s actuator_test{};
@@ -1719,7 +1718,7 @@ Commander::handle_command_actuator_test(const vehicle_command_s &cmd)
actuator_test.function = actuator_test.function - first_servo_function + actuator_test_s::FUNCTION_SERVO1;
} else {
return vehicle_command_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
return vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
}
} else {
@@ -1744,7 +1743,7 @@ Commander::handle_command_actuator_test(const vehicle_command_s &cmd)
}
_actuator_test_pub.publish(actuator_test);
return vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
return vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
}
void Commander::executeActionRequest(const action_request_s &action_request)
@@ -3498,22 +3497,22 @@ Commander::print_reject_mode(uint8_t main_state)
void Commander::answer_command(const vehicle_command_s &cmd, uint8_t result)
{
switch (result) {
case vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED:
case vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED:
break;
case vehicle_command_s::VEHICLE_CMD_RESULT_DENIED:
case vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED:
tune_negative(true);
break;
case vehicle_command_s::VEHICLE_CMD_RESULT_FAILED:
case vehicle_command_ack_s::VEHICLE_CMD_RESULT_FAILED:
tune_negative(true);
break;
case vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED:
case vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED:
tune_negative(true);
break;
case vehicle_command_s::VEHICLE_CMD_RESULT_UNSUPPORTED:
case vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED:
tune_negative(true);
break;
src/modules/commander/calibration_routines.cpp
+2 -2
View File
@@ -339,13 +339,13 @@ bool calibrate_cancel_check(orb_advert_t *mavlink_log_pub, const hrt_abstime &ca
(int)cmd.param5 == 0 &&
(int)cmd.param6 == 0) {
command_ack.result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
command_ack.result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
mavlink_log_critical(mavlink_log_pub, CAL_QGC_CANCELLED_MSG);
tune_positive(true);
ret = true;
} else {
command_ack.result = vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
command_ack.result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED;
mavlink_log_critical(mavlink_log_pub, "command denied during calibration: %" PRIu32 "\t", cmd.command);
events::send<uint32_t>(events::ID("commander_cal_cmd_denied"), {events::Log::Error, events::LogInternal::Info},
"Command denied during calibration: {1}", cmd.command);
src/modules/commander/failure_detector/FailureDetector.cpp
+2 -2
View File
@@ -124,8 +124,8 @@ void FailureInjector::update()
ack.command = vehicle_command.command;
ack.from_external = false;
ack.result = supported ?
vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED :
vehicle_command_ack_s::VEHICLE_RESULT_UNSUPPORTED;
vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED :
vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
ack.timestamp = hrt_absolute_time();
_command_ack_pub.publish(ack);
}
src/modules/flight_mode_manager/FlightModeManager.cpp
+3 -3
View File
@@ -390,15 +390,15 @@ void FlightModeManager::handleCommand()
&& _vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
// switch to the commanded task
bool switch_succeeded = (switchTask(desired_task) == FlightTaskError::NoError);
uint8_t cmd_result = vehicle_command_ack_s::VEHICLE_RESULT_FAILED;
uint8_t cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_FAILED;
// if we are in/switched to the desired task
if (switch_succeeded) {
cmd_result = vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
// if the task is running apply parameters to it and see if it rejects
if (isAnyTaskActive() && !_current_task.task->applyCommandParameters(command)) {
cmd_result = vehicle_command_ack_s::VEHICLE_RESULT_DENIED;
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED;
// if we just switched and parameters are not accepted, go to failsafe
if (switch_succeeded) {
src/modules/gimbal/input_mavlink.cpp
+6 -6
View File
@@ -360,7 +360,7 @@ void InputMavlinkCmdMount::_ack_vehicle_command(const vehicle_command_s &cmd)
vehicle_command_ack.timestamp = hrt_absolute_time();
vehicle_command_ack.command = cmd.command;
vehicle_command_ack.result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
vehicle_command_ack.result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
vehicle_command_ack.target_system = cmd.source_system;
vehicle_command_ack.target_component = cmd.source_component;
@@ -729,7 +729,7 @@ InputMavlinkGimbalV2::_process_command(ControlData &control_data, const vehicle_
break;
}
_ack_vehicle_command(vehicle_command, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
_ack_vehicle_command(vehicle_command, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
return update_result;
} else if (vehicle_command.command == vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONFIGURE) {
@@ -763,7 +763,7 @@ InputMavlinkGimbalV2::_process_command(ControlData &control_data, const vehicle_
}
}
_ack_vehicle_command(vehicle_command, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
_ack_vehicle_command(vehicle_command, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
return UpdateResult::UpdatedActive;
} else if (vehicle_command.command ==
@@ -828,7 +828,7 @@ InputMavlinkGimbalV2::_process_command(ControlData &control_data, const vehicle_
}
}();
_ack_vehicle_command(vehicle_command, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
_ack_vehicle_command(vehicle_command, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
if (new_sysid_primary_control != control_data.sysid_primary_control ||
new_compid_primary_control != control_data.compid_primary_control) {
@@ -861,7 +861,7 @@ InputMavlinkGimbalV2::_process_command(ControlData &control_data, const vehicle_
_set_control_data_from_set_attitude(control_data, flags, q, angular_velocity);
_ack_vehicle_command(vehicle_command,
vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
return UpdateResult::UpdatedActive;
@@ -871,7 +871,7 @@ InputMavlinkGimbalV2::_process_command(ControlData &control_data, const vehicle_
vehicle_command.source_component,
control_data.sysid_primary_control, control_data.compid_primary_control);
_ack_vehicle_command(vehicle_command,
vehicle_command_s::VEHICLE_CMD_RESULT_DENIED);
vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED);
return UpdateResult::UpdatedNotActive;
}
src/modules/logger/logger.cpp
+5 -5
View File
@@ -1160,23 +1160,23 @@ void Logger::handle_vehicle_command_update()
if (command.command == vehicle_command_s::VEHICLE_CMD_LOGGING_START) {
if ((int)(command.param1 + 0.5f) != 0) {
ack_vehicle_command(&command, vehicle_command_s::VEHICLE_CMD_RESULT_UNSUPPORTED);
ack_vehicle_command(&command, vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED);
} else if (can_start_mavlink_log()) {
ack_vehicle_command(&command, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
ack_vehicle_command(&command, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
start_log_mavlink();
} else {
ack_vehicle_command(&command, vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED);
ack_vehicle_command(&command, vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED);
}
} else if (command.command == vehicle_command_s::VEHICLE_CMD_LOGGING_STOP) {
if (_writer.is_started(LogType::Full, LogWriter::BackendMavlink)) {
ack_vehicle_command(&command, vehicle_command_s::VEHICLE_CMD_RESULT_IN_PROGRESS);
ack_vehicle_command(&command, vehicle_command_ack_s::VEHICLE_CMD_RESULT_IN_PROGRESS);
stop_log_mavlink();
}
ack_vehicle_command(&command, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
ack_vehicle_command(&command, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
}
}
}
src/modules/mavlink/mavlink_main.cpp
+2 -2
View File
@@ -2339,7 +2339,7 @@ Mavlink::task_main(int argc, char *argv[])
// send positive command ack
vehicle_command_ack_s command_ack{};
command_ack.command = vehicle_cmd.command;
command_ack.result = vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED;
command_ack.result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
command_ack.from_external = !vehicle_cmd.from_external;
command_ack.target_system = vehicle_cmd.source_system;
command_ack.target_component = vehicle_cmd.source_component;
@@ -2386,7 +2386,7 @@ Mavlink::task_main(int argc, char *argv[])
cmd_logging_start_acknowledgement = true;
} else if (command_ack.command == vehicle_command_s::VEHICLE_CMD_LOGGING_STOP
&& command_ack.result == vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED) {
&& command_ack.result == vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED) {
cmd_logging_stop_acknowledgement = true;
}
}
src/modules/mavlink/mavlink_receiver.cpp
+13 -12
View File
@@ -394,7 +394,7 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
// This looks suspicously like INT32_MAX was sent in a COMMAND_LONG instead of
// a COMMAND_INT.
PX4_ERR("param5/param6 invalid of command %" PRIu16, cmd_mavlink.command);
acknowledge(msg->sysid, msg->compid, cmd_mavlink.command, vehicle_command_ack_s::VEHICLE_RESULT_DENIED);
acknowledge(msg->sysid, msg->compid, cmd_mavlink.command, vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED);
return;
}
@@ -430,7 +430,7 @@ MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg)
if (cmd_mavlink.x == 0x7ff80000 && cmd_mavlink.y == 0x7ff80000) {
// This looks like NAN was by accident sent as int.
PX4_ERR("x/y invalid of command %" PRIu16, cmd_mavlink.command);
acknowledge(msg->sysid, msg->compid, cmd_mavlink.command, vehicle_command_ack_s::VEHICLE_RESULT_DENIED);
acknowledge(msg->sysid, msg->compid, cmd_mavlink.command, vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED);
return;
}
@@ -468,14 +468,14 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
{
bool target_ok = evaluate_target_ok(cmd_mavlink.command, cmd_mavlink.target_system, cmd_mavlink.target_component);
bool send_ack = true;
uint8_t result = vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED;
uint8_t result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
uint8_t progress = 0; // TODO: should be 255, 0 for backwards compatibility
if (!target_ok) {
// Reject alien commands only if there is no forwarding or we've never seen target component before
if (!_mavlink->get_forwarding_on()
|| !_mavlink->component_was_seen(cmd_mavlink.target_system, cmd_mavlink.target_component, _mavlink)) {
acknowledge(msg->sysid, msg->compid, cmd_mavlink.command, vehicle_command_ack_s::VEHICLE_RESULT_FAILED);
acknowledge(msg->sysid, msg->compid, cmd_mavlink.command, vehicle_command_ack_s::VEHICLE_CMD_RESULT_FAILED);
}
return;
@@ -500,7 +500,7 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
} else if (cmd_mavlink.command == MAV_CMD_SET_MESSAGE_INTERVAL) {
if (set_message_interval((int)roundf(cmd_mavlink.param1), cmd_mavlink.param2, cmd_mavlink.param3)) {
result = vehicle_command_ack_s::VEHICLE_RESULT_FAILED;
result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_FAILED;
}
} else if (cmd_mavlink.command == MAV_CMD_GET_MESSAGE_INTERVAL) {
@@ -541,7 +541,7 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
send_ack = false;
} else {
result = vehicle_command_ack_s::VEHICLE_RESULT_DENIED;
result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED;
send_ack = true;
}
@@ -627,7 +627,7 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
if (has_module) {
// most are in progress
result = vehicle_command_ack_s::VEHICLE_RESULT_IN_PROGRESS;
result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_IN_PROGRESS;
switch (status.state) {
case autotune_attitude_control_status_s::STATE_IDLE:
@@ -669,17 +669,17 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
case autotune_attitude_control_status_s::STATE_COMPLETE:
progress = 100;
// ack it properly with an ACCEPTED once we're done
result = vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED;
result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
break;
case autotune_attitude_control_status_s::STATE_FAIL:
progress = 0;
result = vehicle_command_ack_s::VEHICLE_RESULT_FAILED;
result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_FAILED;
break;
}
} else {
result = vehicle_command_ack_s::VEHICLE_RESULT_UNSUPPORTED;
result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
}
send_ack = true;
@@ -698,7 +698,7 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
// on a radio link
if (_mavlink->get_data_rate() < 5000) {
send_ack = true;
result = vehicle_command_ack_s::VEHICLE_RESULT_DENIED;
result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED;
_mavlink->send_statustext_critical("Not enough bandwidth to enable log streaming\t");
events::send<uint32_t>(events::ID("mavlink_log_not_enough_bw"), events::Log::Error,
"Not enough bandwidth to enable log streaming ({1} \\< 5000)", _mavlink->get_data_rate());
@@ -753,7 +753,8 @@ uint8_t MavlinkReceiver::handle_request_message_command(uint16_t message_id, flo
}
}
return (message_sent ? vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED : vehicle_command_ack_s::VEHICLE_RESULT_DENIED);
return (message_sent ? vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED :
vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED);
}
src/modules/navigator/navigator_main.cpp
+4 -4
View File
@@ -230,7 +230,7 @@ void Navigator::run()
// DO_GO_AROUND is currently handled by the position controller (unacknowledged)
// TODO: move DO_GO_AROUND handling to navigator
publish_vehicle_command_ack(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
publish_vehicle_command_ack(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_REPOSITION
&& _vstatus.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
@@ -463,7 +463,7 @@ void Navigator::run()
PX4_WARN("planned mission landing not available");
}
publish_vehicle_command_ack(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
publish_vehicle_command_ack(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_MISSION_START) {
if (_mission_result.valid && PX4_ISFINITE(cmd.param1) && (cmd.param1 >= 0)) {
@@ -492,7 +492,7 @@ void Navigator::run()
}
// TODO: handle responses for supported DO_CHANGE_SPEED options?
publish_vehicle_command_ack(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
publish_vehicle_command_ack(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_SET_ROI
|| cmd.command == vehicle_command_s::VEHICLE_CMD_NAV_ROI
@@ -534,7 +534,7 @@ void Navigator::run()
_vehicle_roi_pub.publish(_vroi);
publish_vehicle_command_ack(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
publish_vehicle_command_ack(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION
&& get_vstatus()->nav_state != vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF) {
src/modules/simulator/simulator_mavlink.cpp
+2 -2
View File
@@ -1339,8 +1339,8 @@ void Simulator::check_failure_injections()
ack.command = vehicle_command.command;
ack.from_external = false;
ack.result = supported ?
vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED :
vehicle_command_ack_s::VEHICLE_RESULT_UNSUPPORTED;
vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED :
vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
ack.timestamp = hrt_absolute_time();
_command_ack_pub.publish(ack);
}
src/modules/temperature_compensation/TemperatureCompensationModule.cpp
+2 -2
View File
@@ -226,10 +226,10 @@ void TemperatureCompensationModule::Run()
vehicle_command_ack_s command_ack{};
if (ret == 0) {
command_ack.result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
command_ack.result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
command_ack.result = vehicle_command_s::VEHICLE_CMD_RESULT_FAILED;
command_ack.result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_FAILED;
}
command_ack.timestamp = hrt_absolute_time();
src/modules/vtol_att_control/vtol_att_control_main.cpp
+2 -2
View File
@@ -135,7 +135,7 @@ void VtolAttitudeControl::vehicle_cmd_poll()
vehicle_status_s vehicle_status{};
_vehicle_status_sub.copy(&vehicle_status);
uint8_t result = vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED;
uint8_t result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
const int transition_command_param1 = int(vehicle_command.param1 + 0.5f);
@@ -146,7 +146,7 @@ void VtolAttitudeControl::vehicle_cmd_poll()
|| vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL
|| vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_ORBIT)) {
result = vehicle_command_ack_s::VEHICLE_RESULT_TEMPORARILY_REJECTED;
result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
} else {
_transition_command = transition_command_param1;