Merge pull request #1868 from mavlink/pr-add-command-ack

create ack packet and send it

Author: julianoes

src/mavsdk/plugins/mavlink_passthrough/include/plugins/mavlink_passthrough/mavlink_passthrough.h

@@ -135,6 +135,22 @@ class MavlinkPassthrough : public PluginBase {
      */
     Result send_command_int(const CommandInt& command);
 
+    /**
+     * @brief Create a command_ack.
+     *
+     * @param target_sysid Target system ID where to send command_ack to.
+     * @param target_compid Target component ID where to send command_ack to.
+     * @param command Command to respond to.
+     * @param result Result of command.
+     *
+     * @return message to send.
+     */
+    mavlink_message_t make_command_ack_message(
+        const uint8_t target_sysid,
+        const uint8_t target_compid,
+        const uint16_t command,
+        MAV_RESULT result);
+
     /**
      * @brief Callback type for message subscriptions.
      */

src/mavsdk/plugins/mavlink_passthrough/mavlink_passthrough.cpp

@@ -30,6 +30,15 @@ MavlinkPassthrough::Result MavlinkPassthrough::send_command_long(const CommandLo
     return _impl->send_command_long(command);
 }
 
+mavlink_message_t MavlinkPassthrough::make_command_ack_message(
+    const uint8_t target_sysid,
+    const uint8_t target_compid,
+    const uint16_t command,
+    MAV_RESULT result)
+{
+    return _impl->make_command_ack_message(target_sysid, target_compid, command, result);
+}
+
 MavlinkPassthrough::MessageHandle
 MavlinkPassthrough::subscribe_message(uint16_t message_id, const MessageCallback& callback)
 {

src/mavsdk/plugins/mavlink_passthrough/mavlink_passthrough_impl.cpp

@@ -82,6 +82,30 @@ MavlinkPassthroughImpl::send_command_int(const MavlinkPassthrough::CommandInt& c
         _parent->send_command(command_internal));
 }
 
+mavlink_message_t MavlinkPassthroughImpl::make_command_ack_message(
+    const uint8_t target_sysid,
+    const uint8_t target_compid,
+    const uint16_t command,
+    MAV_RESULT result)
+{
+    /* copied over from system impl */
+    const uint8_t progress = std::numeric_limits<uint8_t>::max();
+    const uint8_t result_param2 = 0;
+
+    mavlink_message_t msg{};
+    mavlink_msg_command_ack_pack(
+        get_our_sysid(),
+        get_our_compid(),
+        &msg,
+        command,
+        result,
+        progress,
+        result_param2,
+        target_sysid,
+        target_compid);
+    return msg;
+}
+
 MavlinkPassthrough::Result
 MavlinkPassthroughImpl::to_mavlink_passthrough_result_from_mavlink_commands_result(
     MavlinkCommandSender::Result result)

src/mavsdk/plugins/mavlink_passthrough/mavlink_passthrough_impl.h

@@ -24,6 +24,11 @@ class MavlinkPassthroughImpl : public PluginImplBase {
     MavlinkPassthrough::Result send_message(mavlink_message_t& message);
     MavlinkPassthrough::Result send_command_long(const MavlinkPassthrough::CommandLong& command);
     MavlinkPassthrough::Result send_command_int(const MavlinkPassthrough::CommandInt& command);
+    mavlink_message_t make_command_ack_message(
+        const uint8_t target_sysid,
+        const uint8_t target_compid,
+        const uint16_t command,
+        MAV_RESULT result);
 
     MavlinkPassthrough::MessageHandle
     subscribe_message(uint16_t message_id, const MavlinkPassthrough::MessageCallback& callback);