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msg ROS2 compatibility, microdds_client improvements (timesync, reduced code size, added topics, etc), fastrtps purge

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- update all msgs to be directly compatible with ROS2
 - microdds_client improvements
   - timesync
   - reduced code size
   - add to most default builds if we can afford it
   - lots of other little changes
 - purge fastrtps (I tried to save this multiple times, but kept hitting roadblocks)
This commit is contained in:
Daniel Agar
2022-10-19 19:36:47 -04:00
committed by GitHub
parent e211e0ca0e
commit cea185268e
318 changed files with 1948 additions and 8939 deletions
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msg/VehicleCommandAck.msg
+33
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# Vehicle Command Ackonwledgement uORB message.
# Used for acknowledging the vehicle command being received.
# Follows the MAVLink COMMAND_ACK message definition
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 = 4
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
uint8 target_component
bool from_external # Indicates if the command came from an external source