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navigator: refactor vcmd -> vehicle_command

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Matthias Grob
2025-04-25 13:50:58 +02:00
committed by Silvan Fuhrer
parent 176783dbcb
commit da870c4dce
10 changed files with 129 additions and 134 deletions
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6
docs/en/camera/camera_architecture.md
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@@ -88,9 +88,9 @@ Commands supported in missions, including camera commands, are shown in these me
- Mission items are executed when set active.
- `issue_command(_mission_item)` is called at the end of this to send the current non-waypoint command
- [`MissionBlock::issue_command(const mission_item_s &item)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562)
- Creates a vehicle command for the mission item then calls `publish_vehicle_command` to publish it (`_navigator->publish_vehicle_command(&vcmd);`)
- [`void Navigator::publish_vehicle_command(vehicle_command_s *vcmd)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358)
- For some camera commands it sets the component ID to the camera component id (`vcmd->target_component = 100; // MAV_COMP_ID_CAMERA`)
- Creates a vehicle command for the mission item then calls `publish_vehicle_command` to publish it (`_navigator->publish_vehicle_command(&vehicle_command);`)
- [`void Navigator::publish_vehicle_command(vehicle_command_s *vehicle_command)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358)
- For some camera commands it sets the component ID to the camera component id (`vehicle_command->target_component = 100; // MAV_COMP_ID_CAMERA`)
- All others just get published to default component ID.
- The `VehicleCommand` UORB topic is published.

6
docs/en/camera/mavlink_v2_camera.md
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@@ -83,11 +83,11 @@ void Mission::setActiveMissionItems() => https://github.com/PX4/PX4-Autopilot/bl
Issuing command:
MissionBlock::issue_command(const mission_item_s &item) => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562
At end this publishes the current vehicle command
_navigator->publish_vehicle_command(&vcmd);
_navigator->publish_vehicle_command(&vehicle_command);
Publishing command:
void Navigator::publish_vehicle_command(vehicle_command_s *vcmd) => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
For camera commands set to vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
void Navigator::publish_vehicle_command(vehicle_command_s *vehicle_command) => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
For camera commands set to vehicle_command->target_component = 100; // MAV_COMP_ID_CAMERA
All others just get published as-is
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