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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 18:29:59 +11:00 committed by GitHub
parent 48525073aa
commit 8a8496d57e
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GPG Key ID: B5690EEEBB952194
5 changed files with 121 additions and 21 deletions
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35
msg/px4_msgs_old/msg/VehicleCommandAckV0.msg Normal file
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@ -0,0 +1,35 @@
# Vehicle Command Ackonwledgement uORB message.
# Used for acknowledging the vehicle command being received.
# Follows the MAVLink COMMAND_ACK message definition
uint32 MESSAGE_VERSION = 0
uint64 timestamp # time since system start (microseconds)
# Result cases. This follows the MAVLink MAV_RESULT enum definition
uint8 VEHICLE_CMD_RESULT_ACCEPTED = 0 # Command ACCEPTED and EXECUTED |
uint8 VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1 # Command TEMPORARY REJECTED/DENIED |
uint8 VEHICLE_CMD_RESULT_DENIED = 2 # Command PERMANENTLY DENIED |
uint8 VEHICLE_CMD_RESULT_UNSUPPORTED = 3 # Command UNKNOWN/UNSUPPORTED |
uint8 VEHICLE_CMD_RESULT_FAILED = 4 # Command executed, but failed |
uint8 VEHICLE_CMD_RESULT_IN_PROGRESS = 5 # Command being executed |
uint8 VEHICLE_CMD_RESULT_CANCELLED = 6 # Command Canceled
# Arming denied specific cases
uint16 ARM_AUTH_DENIED_REASON_GENERIC = 0
uint16 ARM_AUTH_DENIED_REASON_NONE = 1
uint16 ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT = 2
uint16 ARM_AUTH_DENIED_REASON_TIMEOUT = 3
uint16 ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE = 4
uint16 ARM_AUTH_DENIED_REASON_BAD_WEATHER = 5
uint8 ORB_QUEUE_LENGTH = 8
uint32 command # Command that is being acknowledged
uint8 result # Command result
uint8 result_param1 # Also used as progress[%], it can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS
int32 result_param2 # Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied.
uint8 target_system
uint16 target_component # Target component / mode executor
bool from_external # Indicates if the command came from an external source

3
msg/translation_node/translations/all_translations.h
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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"

51
msg/translation_node/translations/translation_vehicle_command_ack_v1.h Normal file
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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);

46
msg/versioned/VehicleCommandAck.msg
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@ -1,20 +1,32 @@
# Vehicle Command Ackonwledgement uORB message.
# Vehicle Command Acknowledgement uORB message.
#
# Used for acknowledging the vehicle command being received.
# Follows the MAVLink COMMAND_ACK message definition
uint32 MESSAGE_VERSION = 0
uint32 MESSAGE_VERSION = 1
uint64 timestamp # time since system start (microseconds)
uint64 timestamp # [us] time since system start
# Result cases. This follows the MAVLink MAV_RESULT enum definition
uint8 VEHICLE_CMD_RESULT_ACCEPTED = 0 # Command ACCEPTED and EXECUTED |
uint8 VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1 # Command TEMPORARY REJECTED/DENIED |
uint8 VEHICLE_CMD_RESULT_DENIED = 2 # Command PERMANENTLY DENIED |
uint8 VEHICLE_CMD_RESULT_UNSUPPORTED = 3 # Command UNKNOWN/UNSUPPORTED |
uint8 VEHICLE_CMD_RESULT_FAILED = 4 # Command executed, but failed |
uint8 VEHICLE_CMD_RESULT_IN_PROGRESS = 5 # Command being executed |
uint8 VEHICLE_CMD_RESULT_CANCELLED = 6 # Command Canceled
uint8 ORB_QUEUE_LENGTH = 8
uint32 command # [-] Command that is being acknowledged
uint8 result # [@enum VEHICLE_CMD_RESULT] Command result
# VEHICLE_CMD_RESULT Result cases. Follows the MAVLink MAV_RESULT enum definition
uint8 VEHICLE_CMD_RESULT_ACCEPTED = 0 # Command ACCEPTED and EXECUTED
uint8 VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1 # Command TEMPORARY REJECTED/DENIED
uint8 VEHICLE_CMD_RESULT_DENIED = 2 # Command PERMANENTLY DENIED
uint8 VEHICLE_CMD_RESULT_UNSUPPORTED = 3 # Command UNKNOWN/UNSUPPORTED
uint8 VEHICLE_CMD_RESULT_FAILED = 4 # Command executed, but failed
uint8 VEHICLE_CMD_RESULT_IN_PROGRESS = 5 # Command being executed
uint8 VEHICLE_CMD_RESULT_CANCELLED = 6 # Command Canceled
uint8 VEHICLE_CMD_RESULT_COMMAND_LONG_ONLY = 7 # Command is only accepted when sent as a COMMAND_LONG
uint8 VEHICLE_CMD_RESULT_COMMAND_INT_ONLY = 8 # Command is only accepted when sent as a COMMAND_INT
uint8 VEHICLE_CMD_RESULT_UNSUPPORTED_MAV_FRAME = 9 # Command does not support specified frame
uint8 result_param1 # [-] Can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS (%)
int32 result_param2 # [enum ARM_AUTH_DENIED_REASON] Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied, or what ARM_AUTH_DENIED_REASON
# Arming denied specific cases
uint16 ARM_AUTH_DENIED_REASON_GENERIC = 0
uint16 ARM_AUTH_DENIED_REASON_NONE = 1
@ -23,13 +35,7 @@ uint16 ARM_AUTH_DENIED_REASON_TIMEOUT = 3
uint16 ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE = 4
uint16 ARM_AUTH_DENIED_REASON_BAD_WEATHER = 5
uint8 ORB_QUEUE_LENGTH = 8
uint8 target_system # [-] Target system
uint16 target_component # Target component / mode executor
uint32 command # Command that is being acknowledged
uint8 result # Command result
uint8 result_param1 # Also used as progress[%], it can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS
int32 result_param2 # Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied.
uint8 target_system
uint16 target_component # Target component / mode executor
bool from_external # Indicates if the command came from an external source
bool from_external # Indicates if the command came from an external source

7
src/modules/mavlink/mavlink_receiver.cpp
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@ -517,6 +517,13 @@ MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg)
return;
}
if (cmd_mavlink.frame != MAV_FRAME_GLOBAL_INT) {
// PX4 only supports global frame.
PX4_ERR("frame invalid for command %" PRIu16, cmd_mavlink.command);
acknowledge(msg->sysid, msg->compid, cmd_mavlink.command, vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED_MAV_FRAME);
return;
}
/* Copy the content of mavlink_command_int_t cmd_mavlink into command_t cmd */
vcmd.param1 = cmd_mavlink.param1;
vcmd.param2 = cmd_mavlink.param2;