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108 lines
8.2 KiB
Markdown
108 lines
8.2 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# VehicleCommandAck (UORB message)
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Vehicle Command Acknowledgement 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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**TOPICS:** vehicle_command_ack
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## Fields
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| Name | Type | Unit [Frame] | Range/Enum | Description |
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| ---------------- | -------- | --------------------------- | ----------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------- |
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| timestamp | `uint64` | us | | time since system start |
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| command | `uint32` | | | Command that is being acknowledged |
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| result | `uint8` | | [VEHICLE_CMD_RESULT](#VEHICLE_CMD_RESULT) | Command result |
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| 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 (%) |
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| 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 |
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| target_system | `uint8` | | | Target system |
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| target_component | `uint16` | | | Target component / mode executor |
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| from_external | `bool` | | | Indicates if the command came from an external source |
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## Enums
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### VEHICLE_CMD_RESULT {#VEHICLE_CMD_RESULT}
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| Name | Type | Value | Description |
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| ----------------------------------------------------------------------------------------------- | ------- | ----- | ---------------------------------------------------- |
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| <a id="#VEHICLE_CMD_RESULT_ACCEPTED"></a> VEHICLE_CMD_RESULT_ACCEPTED | `uint8` | 0 | Command ACCEPTED and EXECUTED |
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| <a id="#VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED"></a> VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED | `uint8` | 1 | Command TEMPORARY REJECTED/DENIED |
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| <a id="#VEHICLE_CMD_RESULT_DENIED"></a> VEHICLE_CMD_RESULT_DENIED | `uint8` | 2 | Command PERMANENTLY DENIED |
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| <a id="#VEHICLE_CMD_RESULT_UNSUPPORTED"></a> VEHICLE_CMD_RESULT_UNSUPPORTED | `uint8` | 3 | Command UNKNOWN/UNSUPPORTED |
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| <a id="#VEHICLE_CMD_RESULT_FAILED"></a> VEHICLE_CMD_RESULT_FAILED | `uint8` | 4 | Command executed, but failed |
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| <a id="#VEHICLE_CMD_RESULT_IN_PROGRESS"></a> VEHICLE_CMD_RESULT_IN_PROGRESS | `uint8` | 5 | Command being executed |
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| <a id="#VEHICLE_CMD_RESULT_CANCELLED"></a> VEHICLE_CMD_RESULT_CANCELLED | `uint8` | 6 | Command Canceled |
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| <a id="#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 |
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| <a id="#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 |
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| <a id="#VEHICLE_CMD_RESULT_UNSUPPORTED_MAV_FRAME"></a> VEHICLE_CMD_RESULT_UNSUPPORTED_MAV_FRAME | `uint8` | 9 | Command does not support specified frame |
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## Constants
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| Name | Type | Value | Description |
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| --------------------------------------------------------------------------------------------- | -------- | ----- | ----------- |
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| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 |
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| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 8 |
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| <a id="#ARM_AUTH_DENIED_REASON_GENERIC"></a> ARM_AUTH_DENIED_REASON_GENERIC | `uint16` | 0 |
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| <a id="#ARM_AUTH_DENIED_REASON_NONE"></a> ARM_AUTH_DENIED_REASON_NONE | `uint16` | 1 |
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| <a id="#ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT"></a> ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT | `uint16` | 2 |
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| <a id="#ARM_AUTH_DENIED_REASON_TIMEOUT"></a> ARM_AUTH_DENIED_REASON_TIMEOUT | `uint16` | 3 |
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| <a id="#ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE"></a> ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE | `uint16` | 4 |
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| <a id="#ARM_AUTH_DENIED_REASON_BAD_WEATHER"></a> ARM_AUTH_DENIED_REASON_BAD_WEATHER | `uint16` | 5 |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleCommandAck.msg)
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::: details Click here to see original file
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```c
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# Vehicle Command Acknowledgement uORB message.
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#
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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 = 1
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uint64 timestamp # [us] time since system start
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uint8 ORB_QUEUE_LENGTH = 8
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uint32 command # [-] Command that is being acknowledged
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uint8 result # [@enum VEHICLE_CMD_RESULT] Command result
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# VEHICLE_CMD_RESULT Result cases. 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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uint8 VEHICLE_CMD_RESULT_COMMAND_LONG_ONLY = 7 # Command is only accepted when sent as a COMMAND_LONG
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uint8 VEHICLE_CMD_RESULT_COMMAND_INT_ONLY = 8 # Command is only accepted when sent as a COMMAND_INT
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uint8 VEHICLE_CMD_RESULT_UNSUPPORTED_MAV_FRAME = 9 # Command does not support specified frame
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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 (%)
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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
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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 target_system # [-] 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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:::
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