From dddac6c85a0f6bdd4db4aab812e3a61c830307b0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jos=C3=A9=20Roberto=20de=20Souza?= Date: Mon, 26 Jun 2017 15:31:53 -0700 Subject: [PATCH] msg: Add arm authorization request command id --- msg/vehicle_command.msg | 1 + msg/vehicle_command_ack.msg | 7 +++++++ 2 files changed, 8 insertions(+) diff --git a/msg/vehicle_command.msg b/msg/vehicle_command.msg index 0168ab295c..bc155aadb1 100644 --- a/msg/vehicle_command.msg +++ b/msg/vehicle_command.msg @@ -62,6 +62,7 @@ uint32 VEHICLE_CMD_START_RX_PAIR = 500 # Starts receiver pairing |0:Spektrum| uint32 VEHICLE_CMD_SET_CAMERA_MODE = 530 # Set camera capture mode (photo, video, etc.) uint32 VEHICLE_CMD_DO_TRIGGER_CONTROL = 2003 # Enable or disable on-board camera triggering system uint32 VEHICLE_CMD_DO_VTOL_TRANSITION = 3000 # Command VTOL transition +uint32 VEHICLE_CMD_ARM_AUTHORIZATION_REQUEST = 3001 # Request arm authorization uint32 VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY = 30001 # Prepare a payload deployment in the flight plan uint32 VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY = 30002 # Control a pre-programmed payload deployment uint32 VEHICLE_CMD_PREFLIGHT_UAVCAN = 243 # UAVCAN configuration. If param 1 == 1 actuator mapping and direction assignment should be started diff --git a/msg/vehicle_command_ack.msg b/msg/vehicle_command_ack.msg index a6f3f3fa32..a416074241 100644 --- a/msg/vehicle_command_ack.msg +++ b/msg/vehicle_command_ack.msg @@ -5,6 +5,13 @@ uint8 VEHICLE_RESULT_UNSUPPORTED = 3 uint8 VEHICLE_RESULT_FAILED = 4 uint8 VEHICLE_RESULT_IN_PROGRESS = 5 +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 + uint32 ORB_QUEUE_LENGTH = 3 uint16 command