43 lines
1.8 KiB
Plaintext
43 lines
1.8 KiB
Plaintext
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# ServiceAckResult.msg
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# ACK code definition for command-like service responses.
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# 這邊只是定義常數的檔案
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#
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# Design:
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# - 0~10 : MAVLink MAV_RESULT compatible range (autopilot/firmware ACK) 大多不會用到 直接吃飛控回傳值
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# - 50~89 : System-level ACK codes (local bridge/orchestrator status)
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# - 90~99 : Unknown/reserved fallback
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#
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# Rule:
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# - If FC ACK is received, return MAV_RESULT_* code.
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# - If FC ACK is not reachable / local pipeline failed, return SYS_* code.
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# ---- MAVLink MAV_RESULT (standard) ---- 詳細請自行去網路找 mavlink MAV_RESULT
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uint8 MAV_RESULT_ACCEPTED=0 # 封包正常接受並執行
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uint8 MAV_RESULT_TEMPORARILY_REJECTED=1 # 封包正常接受 但是飛控很忙 不執行 需要等待後重試
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uint8 MAV_RESULT_DENIED=2 # 封包不正常 參數可能給錯了
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uint8 MAV_RESULT_UNSUPPORTED=3 # 封包不正常 根本認不出是啥
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uint8 MAV_RESULT_FAILED=4 # 封包正常接受 但是載具的狀態異常 不執行
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uint8 MAV_RESULT_IN_PROGRESS=5
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uint8 MAV_RESULT_CANCELLED=6
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uint8 MAV_RESULT_COMMAND_LONG_ONLY=7
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uint8 MAV_RESULT_COMMAND_INT_ONLY=8
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uint8 MAV_RESULT_COMMAND_UNSUPPORTED_MAV_FRAME=9
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uint8 MAV_RESULT_NOT_IN_CONTROL=10
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# ---- System-level result codes (custom) ----
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# 50 : 有接到預期的封包 但是訊息建議再確認
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# 51 : some messages will not have obviously ack, so monitering feature message. however, we do NOT get the feature message. ex. 85/86 pair
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#
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# 52 : mavlink communication timeout 可能是通訊丟包了
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# 53 : there already has a command being execution for this sysid, try later
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# 54 : this sysid is not found
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uint8 FCSYS_GET_EXPECTED_FEEDBACK=50
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uint8 FCSYS_NO_EXPECTED_FEEDBACK=51
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uint8 FCSYS_MAVLINK_TIMEOUT=52
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uint8 FCSYS_BUSY=53
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uint8 FCSYS_DEVICE_NOT_FOUND=54
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# ---- Fallback ----
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uint8 FCSYS_UNKNOWN=90
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