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mavlink:COMMAND_INT - reject invalid frame (#26408)

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* mavlink:COMMAND_INT - reject invalid frame

* Add msg version for new command and use

* Delete msg/px4_msgs_old/msg/VehicleCommandAck.msg:Zone.Identifier

* Fix up translation

* fix: translation_node build

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>

---------

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
Co-authored-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
This commit is contained in:
Hamish Willee
2026-02-25 20:29:59 +13:00
committed by GitHub
co-authored by Beniamino Pozzan
parent 48525073aa
commit 8a8496d57e
5 changed files with 121 additions and 21 deletions
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msg/translation_node/translations/all_translations.h
+2 -1
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@@ -17,6 +17,7 @@
#include "translation_register_ext_component_reply_v1.h"
#include "translation_register_ext_component_request_v1.h"
#include "translation_vehicle_attitude_setpoint_v1.h"
#include "translation_vehicle_command_ack_v1.h"
#include "translation_vehicle_local_position_v1.h"
#include "translation_vehicle_status_v1.h"
#include "translation_vehicle_status_v2.h"
#include "translation_vehicle_local_position_v1.h"
msg/translation_node/translations/translation_vehicle_command_ack_v1.h
+51
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@@ -0,0 +1,51 @@
/****************************************************************************
* Copyright (c) 2024 PX4 Development Team.
* SPDX-License-Identifier: BSD-3-Clause
****************************************************************************/
#pragma once
// Translate VehicleCommandAck v0 <--> v1
#include <px4_msgs_old/msg/vehicle_command_ack_v0.hpp>
#include <px4_msgs/msg/vehicle_command_ack.hpp>
class VehicleCommandAckV1Translation {
public:
using MessageOlder = px4_msgs_old::msg::VehicleCommandAckV0;
static_assert(MessageOlder::MESSAGE_VERSION == 0);
using MessageNewer = px4_msgs::msg::VehicleCommandAck;
static_assert(MessageNewer::MESSAGE_VERSION == 1);
static constexpr const char* kTopic = "fmu/out/vehicle_command_ack";
static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
// Set msg_newer from msg_older
msg_newer.timestamp = msg_older.timestamp;
msg_newer.command = msg_older.command;
msg_newer.result = msg_older.result;
msg_newer.result_param1 = msg_older.result_param1;
msg_newer.result_param2 = msg_older.result_param2;
msg_newer.target_system = msg_older.target_system;
msg_newer.target_component = msg_older.target_component;
msg_newer.from_external = msg_older.from_external;
}
static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
// Set msg_older from msg_newer
msg_older.timestamp = msg_newer.timestamp;
msg_older.command = msg_newer.command;
if (msg_newer.result > msg_newer.VEHICLE_CMD_RESULT_CANCELLED) {
msg_older.result = msg_older.VEHICLE_CMD_RESULT_DENIED;
}
else {
msg_older.result = msg_newer.result;
}
msg_older.result_param1 = msg_newer.result_param1;
msg_older.result_param2 = msg_newer.result_param2;
msg_older.target_system = msg_newer.target_system;
msg_older.target_component = msg_newer.target_component;
msg_older.from_external = msg_newer.from_external;
}
};
REGISTER_TOPIC_TRANSLATION_DIRECT(VehicleCommandAckV1Translation);