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47 lines
2.0 KiB
Markdown
47 lines
2.0 KiB
Markdown
# VehicleCommandAck (UORB message)
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Vehicle Command Ackonwledgement uORB message.
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Used for acknowledging the vehicle command being received.
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Follows the MAVLink COMMAND_ACK message definition
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleCommandAck.msg)
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```c
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# Vehicle Command Ackonwledgement uORB message.
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# Used for acknowledging the vehicle command being received.
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# Follows the MAVLink COMMAND_ACK message definition
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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# Result cases. This follows the MAVLink MAV_RESULT enum definition
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uint8 VEHICLE_CMD_RESULT_ACCEPTED = 0 # Command ACCEPTED and EXECUTED |
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uint8 VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1 # Command TEMPORARY REJECTED/DENIED |
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uint8 VEHICLE_CMD_RESULT_DENIED = 2 # Command PERMANENTLY DENIED |
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uint8 VEHICLE_CMD_RESULT_UNSUPPORTED = 3 # Command UNKNOWN/UNSUPPORTED |
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uint8 VEHICLE_CMD_RESULT_FAILED = 4 # Command executed, but failed |
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uint8 VEHICLE_CMD_RESULT_IN_PROGRESS = 5 # Command being executed |
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uint8 VEHICLE_CMD_RESULT_CANCELLED = 6 # Command Canceled
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# Arming denied specific cases
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uint16 ARM_AUTH_DENIED_REASON_GENERIC = 0
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uint16 ARM_AUTH_DENIED_REASON_NONE = 1
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uint16 ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT = 2
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uint16 ARM_AUTH_DENIED_REASON_TIMEOUT = 3
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uint16 ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE = 4
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uint16 ARM_AUTH_DENIED_REASON_BAD_WEATHER = 5
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uint8 ORB_QUEUE_LENGTH = 4
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uint32 command # Command that is being acknowledged
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uint8 result # Command result
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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
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int32 result_param2 # Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied.
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uint8 target_system
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uint16 target_component # Target component / mode executor
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bool from_external # Indicates if the command came from an external source
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```
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