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33 lines
1.6 KiB
33 lines
1.6 KiB
# 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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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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uint8 target_component |
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bool from_external # Indicates if the command came from an external source
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