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Add support to new fields in command_ack

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This commit is contained in:
José Roberto de Souza
2017-08-19 09:04:52 +02:00
committed by Lorenz Meier
parent d640d1aaf1
commit 4462869432
11 changed files with 77 additions and 23 deletions
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src/drivers/camera_trigger/camera_trigger.cpp
+6 -1
View File
@@ -724,8 +724,13 @@ CameraTrigger::cycle_trampoline(void *arg)
if (updated && need_ack) {
vehicle_command_ack_s command_ack = {
.timestamp = 0,
.result_param2 = 0,
.command = cmd.command,
.result = (uint8_t)cmd_result
.result = (uint8_t)cmd_result,
.from_external = 0,
.result_param1 = 0,
.target_system = cmd.source_system,
.target_component = cmd.source_component
};
if (trig->_cmd_ack_pub == nullptr) {
src/drivers/vmount/input_mavlink.cpp
+10 -6
View File
@@ -41,7 +41,6 @@
#include "input_mavlink.h"
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_roi.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_command_ack.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <drivers/drv_hrt.h>
@@ -292,7 +291,7 @@ int InputMavlinkCmdMount::update_impl(unsigned int timeout_ms, ControlData **con
break;
}
_ack_vehicle_command(vehicle_command.command);
_ack_vehicle_command(&vehicle_command);
} else if (vehicle_command.command == vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONFIGURE) {
_stabilize[0] = (uint8_t) vehicle_command.param2 == 1;
@@ -301,7 +300,7 @@ int InputMavlinkCmdMount::update_impl(unsigned int timeout_ms, ControlData **con
_control_data.type = ControlData::Type::Neutral; //always switch to neutral position
*control_data = &_control_data;
_ack_vehicle_command(vehicle_command.command);
_ack_vehicle_command(&vehicle_command);
}
}
@@ -310,12 +309,17 @@ int InputMavlinkCmdMount::update_impl(unsigned int timeout_ms, ControlData **con
return 0;
}
void InputMavlinkCmdMount::_ack_vehicle_command(uint16_t command)
void InputMavlinkCmdMount::_ack_vehicle_command(vehicle_command_s *cmd)
{
vehicle_command_ack_s vehicle_command_ack = {
.timestamp = hrt_absolute_time(),
.command = command,
.result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED
.result_param2 = 0,
.command = cmd->command,
.result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED,
.from_external = 0,
.result_param1 = 0,
.target_system = cmd->source_system,
.target_component = cmd->source_component
};
if (_vehicle_command_ack_pub == nullptr) {
src/drivers/vmount/input_mavlink.h
+4 -2
View File
@@ -41,9 +41,11 @@
#include "input.h"
#include "input_rc.h"
#include <uORB/topics/vehicle_roi.h>
#include <cstdint>
#include <uORB/topics/vehicle_roi.h>
#include <uORB/topics/vehicle_command.h>
namespace vmount
{
@@ -90,7 +92,7 @@ protected:
virtual int initialize();
private:
void _ack_vehicle_command(uint16_t command);
void _ack_vehicle_command(vehicle_command_s *cmd);
int _vehicle_command_sub = -1;
orb_advert_t _vehicle_command_ack_pub = nullptr;