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implemented command ACK

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This commit is contained in:
Andreas Antener
2015-12-12 13:01:49 +01:00
committed by Lorenz Meier
parent 94bfad5057
commit e8e81650dc
4 changed files with 80 additions and 41 deletions
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14
src/modules/mavlink/mavlink_main.cpp
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@@ -77,6 +77,7 @@
#include <mavlink/mavlink_log.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_command_ack.h>
#include "mavlink_bridge_header.h"
#include "mavlink_main.h"
@@ -1639,9 +1640,13 @@ Mavlink::task_main(int argc, char *argv[])
uint64_t param_time = 0;
MavlinkOrbSubscription *status_sub = add_orb_subscription(ORB_ID(vehicle_status));
uint64_t status_time = 0;
MavlinkOrbSubscription *ack_sub = add_orb_subscription(ORB_ID(vehicle_command_ack));
uint64_t ack_time = 0;
struct vehicle_status_s status;
status_sub->update(&status_time, &status);
struct vehicle_command_ack_s command_ack;
ack_sub->update(&ack_time, &command_ack);
/* add default streams depending on mode */
@@ -1856,6 +1861,15 @@ Mavlink::task_main(int argc, char *argv[])
set_manual_input_mode_generation(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_GENERATED);
}
/* send command ACK */
if (ack_sub->update(&ack_time, &command_ack)) {
mavlink_command_ack_t msg;
msg.result = command_ack.result;
msg.command = command_ack.command;
send_message(MAVLINK_MSG_ID_COMMAND_ACK, &msg);
}
/* check for requested subscriptions */
if (_subscribe_to_stream != nullptr) {
if (OK == configure_stream(_subscribe_to_stream, _subscribe_to_stream_rate)) {