VehicleCommandAck (UORB message)

Vehicle Command Ackonwledgement uORB message. Used for acknowledging the vehicle command being received. Follows the MAVLink COMMAND_ACK message definition.

TOPICS: vehicle_command_ack

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64			time since system start (microseconds)
command	uint32			Command that is being acknowledged
result	uint8			Command result
result_param1	uint8			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
result_param2	int32			Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied.
target_system	uint8
target_component	uint16			Target component / mode executor
from_external	bool			Indicates if the command came from an external source

Constants

Name	Type	Value	Description
MESSAGE_VERSION	uint32	0
VEHICLE_CMD_RESULT_ACCEPTED	uint8	0	Command ACCEPTED and EXECUTED
VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED	uint8	1	Command TEMPORARY REJECTED/DENIED
VEHICLE_CMD_RESULT_DENIED	uint8	2	Command PERMANENTLY DENIED
VEHICLE_CMD_RESULT_UNSUPPORTED	uint8	3	Command UNKNOWN/UNSUPPORTED
VEHICLE_CMD_RESULT_FAILED	uint8	4	Command executed, but failed
VEHICLE_CMD_RESULT_IN_PROGRESS	uint8	5	Command being executed
VEHICLE_CMD_RESULT_CANCELLED	uint8	6	Command Canceled
ARM_AUTH_DENIED_REASON_GENERIC	uint16	0
ARM_AUTH_DENIED_REASON_NONE	uint16	1
ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT	uint16	2
ARM_AUTH_DENIED_REASON_TIMEOUT	uint16	3
ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE	uint16	4
ARM_AUTH_DENIED_REASON_BAD_WEATHER	uint16	5
ORB_QUEUE_LENGTH	uint8	8

Source Message

Source file (GitHub)

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# Vehicle Command Ackonwledgement uORB message.
# Used for acknowledging the vehicle command being received.
# Follows the MAVLink COMMAND_ACK message definition

uint32 MESSAGE_VERSION = 0

uint64 timestamp		# time since system start (microseconds)

# Result cases. This follows the MAVLink MAV_RESULT enum definition
uint8 VEHICLE_CMD_RESULT_ACCEPTED = 0			# Command ACCEPTED and EXECUTED |
uint8 VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1	# Command TEMPORARY REJECTED/DENIED |
uint8 VEHICLE_CMD_RESULT_DENIED = 2			# Command PERMANENTLY DENIED |
uint8 VEHICLE_CMD_RESULT_UNSUPPORTED = 3		# Command UNKNOWN/UNSUPPORTED |
uint8 VEHICLE_CMD_RESULT_FAILED = 4			# Command executed, but failed |
uint8 VEHICLE_CMD_RESULT_IN_PROGRESS = 5		# Command being executed |
uint8 VEHICLE_CMD_RESULT_CANCELLED = 6			# Command Canceled

# Arming denied specific cases
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

uint8 ORB_QUEUE_LENGTH = 8

uint32 command						# Command that is being acknowledged
uint8 result						# Command result
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
int32 result_param2					# Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied.
uint8 target_system
uint16 target_component 				# Target component / mode executor

bool from_external					# Indicates if the command came from an external source