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docs/en/msg_docs/VehicleCommandAck.md
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# VehicleCommandAck (UORB message)
Vehicle Command Ackonwledgement uORB message. Used for acknowledging the vehicle command being received. Follows the MAVLink COMMAND_ACK message definition.
Vehicle Command Acknowledgement uORB message.
Used for acknowledging the vehicle command being received.
Follows the MAVLink COMMAND_ACK message definition
**TOPICS:** vehicle_command_ack
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ---------------- | -------- | ------------ | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| command | `uint32` | | | Command that is being acknowledged |
| result | `uint8` | | | Command result |
| result_param1 | `uint8` | | | 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 |
| result_param2 | `int32` | | | Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied. |
| target_system | `uint8` | | |
| target_component | `uint16` | | | Target component / mode executor |
| from_external | `bool` | | | Indicates if the command came from an external source |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ---------------- | -------- | --------------------------- | ----------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | time since system start |
| command | `uint32` | | | Command that is being acknowledged |
| result | `uint8` | | [VEHICLE_CMD_RESULT](#VEHICLE_CMD_RESULT) | Command result |
| result_param1 | `uint8` | | | Can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS (%) |
| result_param2 | `int32` | 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 |
| target_system | `uint8` | | | Target system |
| target_component | `uint16` | | | Target component / mode executor |
| from_external | `bool` | | | Indicates if the command came from an external source |
## Enums
### VEHICLE_CMD_RESULT {#VEHICLE_CMD_RESULT}
| Name | Type | Value | Description |
| ------------------------------------------------------------------------------------------------- | ------- | ----- | ---------------------------------------------------- |
| <a href="#VEHICLE_CMD_RESULT_ACCEPTED"></a> VEHICLE_CMD_RESULT_ACCEPTED | `uint8` | 0 | Command ACCEPTED and EXECUTED |
| <a href="#VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED"></a> VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED | `uint8` | 1 | Command TEMPORARY REJECTED/DENIED |
| <a href="#VEHICLE_CMD_RESULT_DENIED"></a> VEHICLE_CMD_RESULT_DENIED | `uint8` | 2 | Command PERMANENTLY DENIED |
| <a href="#VEHICLE_CMD_RESULT_UNSUPPORTED"></a> VEHICLE_CMD_RESULT_UNSUPPORTED | `uint8` | 3 | Command UNKNOWN/UNSUPPORTED |
| <a href="#VEHICLE_CMD_RESULT_FAILED"></a> VEHICLE_CMD_RESULT_FAILED | `uint8` | 4 | Command executed, but failed |
| <a href="#VEHICLE_CMD_RESULT_IN_PROGRESS"></a> VEHICLE_CMD_RESULT_IN_PROGRESS | `uint8` | 5 | Command being executed |
| <a href="#VEHICLE_CMD_RESULT_CANCELLED"></a> VEHICLE_CMD_RESULT_CANCELLED | `uint8` | 6 | Command Canceled |
| <a href="#VEHICLE_CMD_RESULT_COMMAND_LONG_ONLY"></a> VEHICLE_CMD_RESULT_COMMAND_LONG_ONLY | `uint8` | 7 | Command is only accepted when sent as a COMMAND_LONG |
| <a href="#VEHICLE_CMD_RESULT_COMMAND_INT_ONLY"></a> VEHICLE_CMD_RESULT_COMMAND_INT_ONLY | `uint8` | 8 | Command is only accepted when sent as a COMMAND_INT |
| <a href="#VEHICLE_CMD_RESULT_UNSUPPORTED_MAV_FRAME"></a> VEHICLE_CMD_RESULT_UNSUPPORTED_MAV_FRAME | `uint8` | 9 | Command does not support specified frame |
## Constants
| Name | Type | Value | Description |
| --------------------------------------------------------------------------------------------- | -------- | ----- | --------------------------------- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 |
| <a id="#VEHICLE_CMD_RESULT_ACCEPTED"></a> VEHICLE_CMD_RESULT_ACCEPTED | `uint8` | 0 | Command ACCEPTED and EXECUTED |
| <a id="#VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED"></a> VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED | `uint8` | 1 | Command TEMPORARY REJECTED/DENIED |
| <a id="#VEHICLE_CMD_RESULT_DENIED"></a> VEHICLE_CMD_RESULT_DENIED | `uint8` | 2 | Command PERMANENTLY DENIED |
| <a id="#VEHICLE_CMD_RESULT_UNSUPPORTED"></a> VEHICLE_CMD_RESULT_UNSUPPORTED | `uint8` | 3 | Command UNKNOWN/UNSUPPORTED |
| <a id="#VEHICLE_CMD_RESULT_FAILED"></a> VEHICLE_CMD_RESULT_FAILED | `uint8` | 4 | Command executed, but failed |
| <a id="#VEHICLE_CMD_RESULT_IN_PROGRESS"></a> VEHICLE_CMD_RESULT_IN_PROGRESS | `uint8` | 5 | Command being executed |
| <a id="#VEHICLE_CMD_RESULT_CANCELLED"></a> VEHICLE_CMD_RESULT_CANCELLED | `uint8` | 6 | Command Canceled |
| Name | Type | Value | Description |
| --------------------------------------------------------------------------------------------- | -------- | ----- | ----------- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 |
| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 8 |
| <a id="#ARM_AUTH_DENIED_REASON_GENERIC"></a> ARM_AUTH_DENIED_REASON_GENERIC | `uint16` | 0 |
| <a id="#ARM_AUTH_DENIED_REASON_NONE"></a> ARM_AUTH_DENIED_REASON_NONE | `uint16` | 1 |
| <a id="#ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT"></a> ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT | `uint16` | 2 |
| <a id="#ARM_AUTH_DENIED_REASON_TIMEOUT"></a> ARM_AUTH_DENIED_REASON_TIMEOUT | `uint16` | 3 |
| <a id="#ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE"></a> ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE | `uint16` | 4 |
| <a id="#ARM_AUTH_DENIED_REASON_BAD_WEATHER"></a> ARM_AUTH_DENIED_REASON_BAD_WEATHER | `uint16` | 5 |
| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 8 |
## Source Message
@@ -48,23 +61,35 @@ Vehicle Command Ackonwledgement uORB message. Used for acknowledging the vehicle
::: details Click here to see original file
```c
# 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
@@ -73,16 +98,10 @@ 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
```
:::
docs/en/msg_docs/VehicleCommandAckV0.md
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---
pageClass: is-wide-page
---
# VehicleCommandAckV0 (UORB message)
Vehicle Command Ackonwledgement uORB message. Used for acknowledging the vehicle command being received. Follows the MAVLink COMMAND_ACK message definition.
**TOPICS:** vehicle_command_ack_v0
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ---------------- | -------- | ------------ | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| command | `uint32` | | | Command that is being acknowledged |
| result | `uint8` | | | Command result |
| result_param1 | `uint8` | | | 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 |
| result_param2 | `int32` | | | Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied. |
| target_system | `uint8` | | |
| target_component | `uint16` | | | Target component / mode executor |
| from_external | `bool` | | | Indicates if the command came from an external source |
## Constants
| Name | Type | Value | Description |
| --------------------------------------------------------------------------------------------- | -------- | ----- | --------------------------------- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 |
| <a id="#VEHICLE_CMD_RESULT_ACCEPTED"></a> VEHICLE_CMD_RESULT_ACCEPTED | `uint8` | 0 | Command ACCEPTED and EXECUTED |
| <a id="#VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED"></a> VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED | `uint8` | 1 | Command TEMPORARY REJECTED/DENIED |
| <a id="#VEHICLE_CMD_RESULT_DENIED"></a> VEHICLE_CMD_RESULT_DENIED | `uint8` | 2 | Command PERMANENTLY DENIED |
| <a id="#VEHICLE_CMD_RESULT_UNSUPPORTED"></a> VEHICLE_CMD_RESULT_UNSUPPORTED | `uint8` | 3 | Command UNKNOWN/UNSUPPORTED |
| <a id="#VEHICLE_CMD_RESULT_FAILED"></a> VEHICLE_CMD_RESULT_FAILED | `uint8` | 4 | Command executed, but failed |
| <a id="#VEHICLE_CMD_RESULT_IN_PROGRESS"></a> VEHICLE_CMD_RESULT_IN_PROGRESS | `uint8` | 5 | Command being executed |
| <a id="#VEHICLE_CMD_RESULT_CANCELLED"></a> VEHICLE_CMD_RESULT_CANCELLED | `uint8` | 6 | Command Canceled |
| <a id="#ARM_AUTH_DENIED_REASON_GENERIC"></a> ARM_AUTH_DENIED_REASON_GENERIC | `uint16` | 0 |
| <a id="#ARM_AUTH_DENIED_REASON_NONE"></a> ARM_AUTH_DENIED_REASON_NONE | `uint16` | 1 |
| <a id="#ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT"></a> ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT | `uint16` | 2 |
| <a id="#ARM_AUTH_DENIED_REASON_TIMEOUT"></a> ARM_AUTH_DENIED_REASON_TIMEOUT | `uint16` | 3 |
| <a id="#ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE"></a> ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE | `uint16` | 4 |
| <a id="#ARM_AUTH_DENIED_REASON_BAD_WEATHER"></a> ARM_AUTH_DENIED_REASON_BAD_WEATHER | `uint16` | 5 |
| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 8 |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/VehicleCommandAckV0.msg)
::: details Click here to see original file
```c
# 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
```
:::
docs/en/msg_docs/index.md
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@@ -40,7 +40,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [VehicleAttitude](VehicleAttitude.md) — This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use. The quaternion uses the Hamilton convention, and the order is q(w, x, y, z).
- [VehicleAttitudeSetpoint](VehicleAttitudeSetpoint.md)
- [VehicleCommand](VehicleCommand.md) — Vehicle Command uORB message. Used for commanding a mission / action / etc. Follows the MAVLink COMMAND_INT / COMMAND_LONG definition.
- [VehicleCommandAck](VehicleCommandAck.md) — Vehicle Command Ackonwledgement uORB message. Used for acknowledging the vehicle command being received. Follows the MAVLink COMMAND_ACK message definition.
- [VehicleCommandAck](VehicleCommandAck.md) — Vehicle Command Acknowledgement uORB message.
- [VehicleControlMode](VehicleControlMode.md)
- [VehicleGlobalPosition](VehicleGlobalPosition.md) — Fused global position in WGS84. This struct contains global position estimation. It is not the raw GPS. measurement (@see vehicle_gps_position). This topic is usually published by the position. estimator, which will take more sources of information into account than just GPS,. e.g. control inputs of the vehicle in a Kalman-filter implementation.
- [VehicleLandDetected](VehicleLandDetected.md)
@@ -268,6 +268,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [RegisterExtComponentReplyV0](RegisterExtComponentReplyV0.md)
- [RegisterExtComponentRequestV0](RegisterExtComponentRequestV0.md) — Request to register an external component.
- [VehicleAttitudeSetpointV0](VehicleAttitudeSetpointV0.md)
- [VehicleCommandAckV0](VehicleCommandAckV0.md) — Vehicle Command Ackonwledgement uORB message. Used for acknowledging the vehicle command being received. Follows the MAVLink COMMAND_ACK message definition.
- [VehicleGlobalPositionV0](VehicleGlobalPositionV0.md) — Fused global position in WGS84. This struct contains global position estimation. It is not the raw GPS. measurement (@see vehicle_gps_position). This topic is usually published by the position. estimator, which will take more sources of information into account than just GPS,. e.g. control inputs of the vehicle in a Kalman-filter implementation.
- [VehicleLocalPositionV0](VehicleLocalPositionV0.md) — Fused local position in NED. The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
- [VehicleStatusV0](VehicleStatusV0.md) — Encodes the system state of the vehicle published by commander.