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

Browse Source 
- 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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src/modules/commander/Commander.cpp
+79 -80
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@@ -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;