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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/navigator/navigator_main.cpp
+4 -4
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@@ -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) {