commander: ignore REQUEST_CAMERA_INFORMATION

- add answer command logging
PX4 · Sep 30, 2024 · f5f7dfc · f5f7dfc
1 parent cf1c03e
commit f5f7dfc
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Showing 2 changed files with 9 additions and 1 deletion.
diff --git a/msg/VehicleCommand.msg b/msg/VehicleCommand.msg
@@ -82,6 +82,7 @@ uint16 VEHICLE_CMD_RUN_PREARM_CHECKS = 401      	# Instructs a target system to
 uint16 VEHICLE_CMD_INJECT_FAILURE = 420			# Inject artificial failure for testing purposes
 uint16 VEHICLE_CMD_START_RX_PAIR = 500			# Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX|
 uint16 VEHICLE_CMD_REQUEST_MESSAGE = 512    		# Request to send a single instance of the specified message
+uint16 VEHICLE_CMD_REQUEST_CAMERA_INFORMATION = 521     # Request camera information (CAMERA_INFORMATION). |0: No action 1: Request camera capabilities| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)|  */
 uint16 VEHICLE_CMD_SET_CAMERA_MODE = 530		# Set camera capture mode (photo, video, etc.)
 uint16 VEHICLE_CMD_SET_CAMERA_ZOOM = 531		# Set camera zoom
 uint16 VEHICLE_CMD_SET_CAMERA_FOCUS = 532

diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
@@ -1499,6 +1499,8 @@ Commander::handle_command(const vehicle_command_s &cmd)
 	case vehicle_command_s::VEHICLE_CMD_REQUEST_MESSAGE:
 	case vehicle_command_s::VEHICLE_CMD_DO_WINCH:
 	case vehicle_command_s::VEHICLE_CMD_DO_GRIPPER:
+	case vehicle_command_s::VEHICLE_CMD_EXTERNAL_POSITION_ESTIMATE:
+	case vehicle_command_s::VEHICLE_CMD_REQUEST_CAMERA_INFORMATION:
 		/* ignore commands that are handled by other parts of the system */
 		break;
 
@@ -2601,23 +2603,28 @@ void Commander::answer_command(const vehicle_command_s &cmd, uint8_t result)
 		break;
 
 	case vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED:
+		PX4_DEBUG("command %" PRIu32 " denied", cmd.command);
 		tune_negative(true);
 		break;
 
 	case vehicle_command_ack_s::VEHICLE_CMD_RESULT_FAILED:
+		PX4_DEBUG("command %" PRIu32 " failed", cmd.command);
 		tune_negative(true);
 		break;
 
 	case vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED:
+		PX4_DEBUG("command %" PRIu32 " temporarily rejected", cmd.command);
 		tune_negative(true);
 		break;
 
 	case vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED:
+		PX4_WARN("command %" PRIu32 " unsupported", cmd.command);
 		tune_negative(true);
 		break;
 
 	default:
-		break;
+		PX4_ERR("command %" PRIu32 " invalid result %d", cmd.command, result);
+		return;
 	}
 
 	/* publish ACK */