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navigator: refactor publish_vehicle_cmd() -> publish_vehicle_command()

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This commit is contained in:
Matthias Grob 2025-04-25 13:38:59 +02:00 committed by Silvan Fuhrer
parent 5f34474ecb
commit f07ddda344
13 changed files with 33 additions and 33 deletions
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4
docs/en/camera/camera_architecture.md
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@ -88,8 +88,8 @@ Commands supported in missions, including camera commands, are shown in these me
- Mission items are executed when set active.
- `issue_command(_mission_item)` is called at the end of this to send the current non-waypoint command
- [`MissionBlock::issue_command(const mission_item_s &item)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562)
- Creates a vehicle command for the mission item then calls `publish_vehicle_cmd` to publish it (`_navigator->publish_vehicle_cmd(&vcmd);`)
- [`void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358)
- Creates a vehicle command for the mission item then calls `publish_vehicle_command` to publish it (`_navigator->publish_vehicle_command(&vcmd);`)
- [`void Navigator::publish_vehicle_command(vehicle_command_s *vcmd)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358)
- For some camera commands it sets the component ID to the camera component id (`vcmd->target_component = 100; // MAV_COMP_ID_CAMERA`)
- All others just get published to default component ID.
- The `VehicleCommand` UORB topic is published.

4
docs/en/camera/mavlink_v2_camera.md
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@ -83,10 +83,10 @@ void Mission::setActiveMissionItems() => https://github.com/PX4/PX4-Autopilot/bl
Issuing command:
MissionBlock::issue_command(const mission_item_s &item) => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562
At end this publishes the current vehicle command
_navigator->publish_vehicle_cmd(&vcmd);
_navigator->publish_vehicle_command(&vcmd);
Publishing command:
void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd) => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
void Navigator::publish_vehicle_command(vehicle_command_s *vcmd) => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
For camera commands set to vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
All others just get published as-is
-->

4
docs/ko/camera/camera_architecture.md
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@ -88,8 +88,8 @@ Commands supported in missions, including camera commands, are shown in these me
- Mission items are executed when set active.
- `issue_command(_mission_item)` is called at the end of this to send the current non-waypoint command
- [`MissionBlock::issue_command(const mission_item_s &item)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562)
- Creates a vehicle command for the mission item then calls `publish_vehicle_cmd` to publish it (`_navigator->publish_vehicle_cmd(&vcmd);`)
- [`void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358)
- Creates a vehicle command for the mission item then calls `publish_vehicle_command` to publish it (`_navigator->publish_vehicle_command(&vcmd);`)
- [`void Navigator::publish_vehicle_command(vehicle_command_s *vcmd)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358)
- For some camera commands it sets the component ID to the camera component id (`vcmd->target_component = 100; // MAV_COMP_ID_CAMERA`)
- All others just get published to default component ID.
- The `VehicleCommand` UORB topic is published.

4
docs/ko/camera/mavlink_v2_camera.md
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@ -83,10 +83,10 @@ void Mission::setActiveMissionItems() => https://github.com/PX4/PX4-Autopilot/bl
Issuing command:
MissionBlock::issue_command(const mission_item_s &item) => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562
At end this publishes the current vehicle command
_navigator->publish_vehicle_cmd(&vcmd);
_navigator->publish_vehicle_command(&vcmd);
Publishing command:
void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd) => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
void Navigator::publish_vehicle_command(vehicle_command_s *vcmd) => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
For camera commands set to vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
All others just get published as-is
-->

4
docs/uk/camera/camera_architecture.md
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@ -88,8 +88,8 @@ PX4 повторно видає пункти камери, знайдені в
- Предмети місії виконуються, коли вони активовані.
- `issue_command(_mission_item)` викликається в кінці цього, щоб відправити поточну непунктову команду
- [`MissionBlock::видача_команди(const mission_item_s &item)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562)
- Створює команду для місії транспортного засобу, а потім викликає `publish_vehicle_cmd` для публікації її (`_navigator->publish_vehicle_cmd(&vcmd);`)
- [`void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358)
- Створює команду для місії транспортного засобу, а потім викликає `publish_vehicle_command` для публікації її (`_navigator->publish_vehicle_command(&vcmd);`)
- [`void Navigator::publish_vehicle_command(vehicle_command_s *vcmd)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358)
- Для деяких команд камери це встановлює ідентифікатор компонента на ідентифікатор компонента камери (`vcmd->target_component = 100; // MAV_COMP_ID_CAMERA`)
- Усі інші просто публікуються під стандартний компонент ID.
- Тема UORB `VehicleCommand` публікується.

4
docs/uk/camera/mavlink_v2_camera.md
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@ -83,10 +83,10 @@ void Mission::setActiveMissionItems() => https://github.com/PX4/PX4-Autopilot/bl
Issuing command:
MissionBlock::issue_command(const mission_item_s &item) => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562
At end this publishes the current vehicle command
_navigator->publish_vehicle_cmd(&vcmd);
_navigator->publish_vehicle_command(&vcmd);
Publishing command:
void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd) => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
void Navigator::publish_vehicle_command(vehicle_command_s *vcmd) => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
For camera commands set to vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
All others just get published as-is
-->

4
docs/zh/camera/camera_architecture.md
View File

@ -88,8 +88,8 @@ Commands supported in missions, including camera commands, are shown in these me
- Mission items are executed when set active.
- `issue_command(_mission_item)` is called at the end of this to send the current non-waypoint command
- [`MissionBlock::issue_command(const mission_item_s &item)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562)
- Creates a vehicle command for the mission item then calls `publish_vehicle_cmd` to publish it (`_navigator->publish_vehicle_cmd(&vcmd);`)
- [`void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358)
- Creates a vehicle command for the mission item then calls `publish_vehicle_command` to publish it (`_navigator->publish_vehicle_command(&vcmd);`)
- [`void Navigator::publish_vehicle_command(vehicle_command_s *vcmd)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358)
- For some camera commands it sets the component ID to the camera component id (`vcmd->target_component = 100; // MAV_COMP_ID_CAMERA`)
- All others just get published to default component ID.
- The `VehicleCommand` UORB topic is published.

4
docs/zh/camera/mavlink_v2_camera.md
View File

@ -83,10 +83,10 @@ void Mission::setActiveMissionItems() => https://github.com/PX4/PX4-Autopilot/bl
Issuing command:
MissionBlock::issue_command(const mission_item_s &item) => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562
At end this publishes the current vehicle command
_navigator->publish_vehicle_cmd(&vcmd);
_navigator->publish_vehicle_command(&vcmd);
Publishing command:
void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd) => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
void Navigator::publish_vehicle_command(vehicle_command_s *vcmd) => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
For camera commands set to vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
All others just get published as-is
-->

2
src/modules/navigator/land.cpp
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@ -120,6 +120,6 @@ Land::on_active()
// and thus always climb MIS_LND_ABRT_ALT
vcmd.param7 = _navigator->get_global_position()->alt + _navigator->get_landing_abort_min_alt();
_navigator->publish_vehicle_cmd(&vcmd);
_navigator->publish_vehicle_command(&vcmd);
}
}

2
src/modules/navigator/mission_base.cpp
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@ -924,7 +924,7 @@ MissionBase::do_abort_landing()
vcmd.param6 = _mission_item.lon;
vcmd.param7 = alt_sp;
_navigator->publish_vehicle_cmd(&vcmd);
_navigator->publish_vehicle_command(&vcmd);
}
void MissionBase::publish_navigator_mission_item()

4
src/modules/navigator/mission_block.cpp
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@ -549,7 +549,7 @@ MissionBlock::issue_command(const mission_item_s &item)
}
}
_navigator->publish_vehicle_cmd(&vcmd);
_navigator->publish_vehicle_command(&vcmd);
if (item_has_timeout(item)) {
_timestamp_command_timeout = hrt_absolute_time();
@ -785,7 +785,7 @@ MissionBlock::set_land_item(struct mission_item_s *item)
vcmd.command = NAV_CMD_DO_VTOL_TRANSITION;
vcmd.param1 = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
vcmd.param2 = 0.0f;
_navigator->publish_vehicle_cmd(&vcmd);
_navigator->publish_vehicle_command(&vcmd);
}
/* set the land item */

2
src/modules/navigator/navigator.h
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@ -137,7 +137,7 @@ public:
*
* @param vcmd Vehicle command to execute
*/
void publish_vehicle_cmd(vehicle_command_s *vcmd);
void publish_vehicle_command(vehicle_command_s *vcmd);
#if CONFIG_NAVIGATOR_ADSB
/**

24
src/modules/navigator/navigator_main.cpp
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@ -665,7 +665,7 @@ void Navigator::run()
vehicle_command_s vcmd = {};
vcmd.command = vehicle_command_s::VEHICLE_CMD_MISSION_START;
vcmd.param1 = _mission.get_land_start_index();
publish_vehicle_cmd(&vcmd);
publish_vehicle_command(&vcmd);
} else {
PX4_WARN("planned mission landing not available");
@ -867,7 +867,7 @@ void Navigator::run()
vehicle_command_s vcmd = {};
vcmd.command = NAV_CMD_DO_VTOL_TRANSITION;
vcmd.param1 = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
publish_vehicle_cmd(&vcmd);
publish_vehicle_command(&vcmd);
mavlink_log_info(&_mavlink_log_pub, "Transition to hover mode and descend.\t");
events::send(events::ID("navigator_transition_descend"), events::Log::Critical,
"Transition to hover mode and descend");
@ -1227,13 +1227,13 @@ void Navigator::take_traffic_conflict_action()
case 2: {
_rtl.set_return_alt_min(true);
vcmd.command = vehicle_command_s::VEHICLE_CMD_NAV_RETURN_TO_LAUNCH;
publish_vehicle_cmd(&vcmd);
publish_vehicle_command(&vcmd);
break;
}
case 3: {
vcmd.command = vehicle_command_s::VEHICLE_CMD_NAV_LAND;
publish_vehicle_cmd(&vcmd);
publish_vehicle_command(&vcmd);
break;
}
@ -1241,7 +1241,7 @@ void Navigator::take_traffic_conflict_action()
case 4: {
vcmd.command = vehicle_command_s::VEHICLE_CMD_NAV_LOITER_UNLIM;
publish_vehicle_cmd(&vcmd);
publish_vehicle_command(&vcmd);
break;
}
@ -1392,7 +1392,7 @@ void Navigator::publish_navigator_status()
}
}
void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)
void Navigator::publish_vehicle_command(vehicle_command_s *vcmd)
{
vcmd->timestamp = hrt_absolute_time();
vcmd->source_system = _vstatus.system_id;
@ -1537,7 +1537,7 @@ void Navigator::acquire_gimbal_control()
vcmd.param2 = _vstatus.component_id;
vcmd.param3 = -1.0f; // Leave unchanged.
vcmd.param4 = -1.0f; // Leave unchanged.
publish_vehicle_cmd(&vcmd);
publish_vehicle_command(&vcmd);
}
void Navigator::release_gimbal_control()
@ -1548,7 +1548,7 @@ void Navigator::release_gimbal_control()
vcmd.param2 = -3.0f; // Remove control if it had it.
vcmd.param3 = -1.0f; // Leave unchanged.
vcmd.param4 = -1.0f; // Leave unchanged.
publish_vehicle_cmd(&vcmd);
publish_vehicle_command(&vcmd);
}
@ -1559,9 +1559,9 @@ Navigator::stop_capturing_images()
vehicle_command_s vcmd = {};
vcmd.command = NAV_CMD_IMAGE_STOP_CAPTURE;
vcmd.param1 = 0.0f;
publish_vehicle_cmd(&vcmd);
publish_vehicle_command(&vcmd);
// _is_capturing_images is reset inside publish_vehicle_cmd.
// _is_capturing_images is reset inside publish_vehicle_command.
}
}
@ -1612,7 +1612,7 @@ void Navigator::disable_camera_trigger()
// Pause trigger
cmd.param1 = -1.0f;
cmd.param3 = 1.0f;
publish_vehicle_cmd(&cmd);
publish_vehicle_command(&cmd);
}
void Navigator::set_gimbal_neutral()
@ -1624,7 +1624,7 @@ void Navigator::set_gimbal_neutral()
vcmd.param3 = NAN;
vcmd.param4 = NAN;
vcmd.param5 = gimbal_manager_set_attitude_s::GIMBAL_MANAGER_FLAGS_NEUTRAL;
publish_vehicle_cmd(&vcmd);
publish_vehicle_command(&vcmd);
}
void Navigator::sendWarningDescentStoppedDueToTerrain()