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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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src/modules/flight_mode_manager/FlightModeManager.cpp
+3 -3
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@@ -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) {