Add support to new fields in command_ack

msg/vehicle_command_ack.msg

@@ -10,3 +10,7 @@ uint32 ORB_QUEUE_LENGTH = 3
 uint16 command
 uint8 result
 uint8 from_external
+uint8 result_param1
+int32 result_param2
+uint8 target_system
+uint8 target_component

src/drivers/camera_trigger/camera_trigger.cpp

@@ -724,8 +724,13 @@ CameraTrigger::cycle_trampoline(void *arg)
 	if (updated && need_ack) {
 		vehicle_command_ack_s command_ack = {
 			.timestamp = 0,
+			.result_param2 = 0,
 			.command = cmd.command,
-			.result = (uint8_t)cmd_result
+			.result = (uint8_t)cmd_result,
+			.from_external = 0,
+			.result_param1 = 0,
+			.target_system = cmd.source_system,
+			.target_component = cmd.source_component
 		};
 
 		if (trig->_cmd_ack_pub == nullptr) {

src/drivers/vmount/input_mavlink.cpp

@@ -41,7 +41,6 @@
 #include "input_mavlink.h"
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_roi.h>
-#include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_command_ack.h>
 #include <uORB/topics/position_setpoint_triplet.h>
 #include <drivers/drv_hrt.h>
@@ -292,7 +291,7 @@ int InputMavlinkCmdMount::update_impl(unsigned int timeout_ms, ControlData **con
 					break;
 				}
 
-				_ack_vehicle_command(vehicle_command.command);
+				_ack_vehicle_command(&vehicle_command);
 
 			} else if (vehicle_command.command == vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONFIGURE) {
 				_stabilize[0] = (uint8_t) vehicle_command.param2 == 1;
@@ -301,7 +300,7 @@ int InputMavlinkCmdMount::update_impl(unsigned int timeout_ms, ControlData **con
 				_control_data.type = ControlData::Type::Neutral; //always switch to neutral position
 
 				*control_data = &_control_data;
-				_ack_vehicle_command(vehicle_command.command);
+				_ack_vehicle_command(&vehicle_command);
 			}
 		}
 
@@ -310,12 +309,17 @@ int InputMavlinkCmdMount::update_impl(unsigned int timeout_ms, ControlData **con
 	return 0;
 }
 
-void InputMavlinkCmdMount::_ack_vehicle_command(uint16_t command)
+void InputMavlinkCmdMount::_ack_vehicle_command(vehicle_command_s *cmd)
 {
 	vehicle_command_ack_s vehicle_command_ack = {
 		.timestamp = hrt_absolute_time(),
-		.command = command,
+		.result_param2 = 0,
-		.result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED
+		.command = cmd->command,
+		.result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED,
+		.from_external = 0,
+		.result_param1 = 0,
+		.target_system = cmd->source_system,
+		.target_component = cmd->source_component
 	};
 
 	if (_vehicle_command_ack_pub == nullptr) {

src/drivers/vmount/input_mavlink.h

@@ -41,9 +41,11 @@
 
 #include "input.h"
 #include "input_rc.h"
-#include <uORB/topics/vehicle_roi.h>
 #include <cstdint>
 
+#include <uORB/topics/vehicle_roi.h>
+#include <uORB/topics/vehicle_command.h>
+
 namespace vmount
 {
 
@@ -90,7 +92,7 @@ protected:
 	virtual int initialize();
 
 private:
-	void _ack_vehicle_command(uint16_t command);
+	void _ack_vehicle_command(vehicle_command_s *cmd);
 
 	int _vehicle_command_sub = -1;
 	orb_advert_t _vehicle_command_ack_pub = nullptr;

src/modules/commander/commander.cpp

@@ -4135,8 +4135,13 @@ void answer_command(struct vehicle_command_s &cmd, unsigned result,
 	/* publish ACK */
 	vehicle_command_ack_s command_ack = {
 		.timestamp = 0,
+		.result_param2 = 0,
 		.command = cmd.command,
-		.result = (uint8_t)result
+		.result = (uint8_t)result,
+		.from_external = 0,
+		.result_param1 = 0,
+		.target_system = cmd.source_system,
+		.target_component = cmd.source_component
 	};
 
 	if (command_ack_pub != nullptr) {

src/modules/events/send_event.cpp

@@ -171,8 +171,13 @@ void SendEvent::answer_command(const vehicle_command_s &cmd, unsigned result)
 	/* publish ACK */
 	struct vehicle_command_ack_s command_ack = {
 		.timestamp = hrt_absolute_time(),
+		.result_param2 = 0,
 		.command = cmd.command,
 		.result = (uint8_t)result,
+		.from_external = 0,
+		.result_param1 = 0,
+		.target_system = cmd.source_system,
+		.target_component = cmd.source_component
 	};
 
 	if (_command_ack_pub != nullptr) {

src/modules/logger/logger.cpp

@@ -49,7 +49,6 @@
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/vehicle_gps_position.h>
-#include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_command_ack.h>
 
 #include <drivers/drv_hrt.h>
@@ -867,22 +866,22 @@ void Logger::run()
 
 				if (command.command == vehicle_command_s::VEHICLE_CMD_LOGGING_START) {
 					if ((int)(command.param1 + 0.5f) != 0) {
-						ack_vehicle_command(vehicle_command_ack_pub, command.command,
+						ack_vehicle_command(vehicle_command_ack_pub, &command,
 								    vehicle_command_s::VEHICLE_CMD_RESULT_UNSUPPORTED);
 
 					} else if (can_start_mavlink_log()) {
-						ack_vehicle_command(vehicle_command_ack_pub, command.command,
+						ack_vehicle_command(vehicle_command_ack_pub, &command,
 								    vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
 						start_log_mavlink();
 
 					} else {
-						ack_vehicle_command(vehicle_command_ack_pub, command.command,
+						ack_vehicle_command(vehicle_command_ack_pub, &command,
 								    vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED);
 					}
 
 				} else if (command.command == vehicle_command_s::VEHICLE_CMD_LOGGING_STOP) {
 					stop_log_mavlink();
-					ack_vehicle_command(vehicle_command_ack_pub, command.command,
+					ack_vehicle_command(vehicle_command_ack_pub, &command,
 							    vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
 				}
 			}
@@ -1999,12 +1998,17 @@ int Logger::remove_directory(const char *dir)
 	return ret;
 }
 
-void Logger::ack_vehicle_command(orb_advert_t &vehicle_command_ack_pub, uint16_t command, uint32_t result)
+void Logger::ack_vehicle_command(orb_advert_t &vehicle_command_ack_pub, vehicle_command_s *cmd, uint32_t result)
 {
 	vehicle_command_ack_s vehicle_command_ack = {
 		.timestamp = hrt_absolute_time(),
-		.command = command,
+		.result_param2 = 0,
-		.result = (uint8_t)result
+		.command = cmd->command,
+		.result = (uint8_t)result,
+		.from_external = 0,
+		.result_param1 = 0,
+		.target_system = cmd->source_system,
+		.target_component = cmd->source_component
 	};
 
 	if (vehicle_command_ack_pub == nullptr) {

src/modules/logger/logger.h

@@ -43,6 +43,8 @@
 #include <systemlib/printload.h>
 #include <px4_module.h>
 
+#include <uORB/topics/vehicle_command.h>
+
 extern "C" __EXPORT int logger_main(int argc, char *argv[]);
 
 #define TRY_SUBSCRIBE_INTERVAL 1000*1000	// interval in microseconds at which we try to subscribe to a topic
@@ -269,7 +271,7 @@ private:
 	void add_thermal_calibration_topics();
 	void add_system_identification_topics();
 
-	void ack_vehicle_command(orb_advert_t &vehicle_command_ack_pub, uint16_t command, uint32_t result);
+	void ack_vehicle_command(orb_advert_t &vehicle_command_ack_pub, vehicle_command_s *cmd, uint32_t result);
 
 	/**
 	 * initialize the output for the process load, so that ~1 second later it will be written to the log

src/modules/mavlink/mavlink_main.cpp

@@ -2207,6 +2207,10 @@ Mavlink::task_main(int argc, char *argv[])
 				mavlink_command_ack_t msg;
 				msg.result = command_ack.result;
 				msg.command = command_ack.command;
+				msg.progress = command_ack.result_param1;
+				msg.result_param2 = command_ack.result_param2;
+				msg.target_system = command_ack.target_system;
+				msg.target_component = command_ack.target_component;
 				current_command_ack = command_ack.command;
 
 				mavlink_msg_command_ack_send_struct(get_channel(), &msg);

src/modules/mavlink/mavlink_receiver.cpp

@@ -472,8 +472,13 @@ out:
 	if (send_ack) {
 		vehicle_command_ack_s command_ack = {
 			.timestamp = 0,
+			.result_param2 = 0,
 			.command = cmd_mavlink.command,
-			.result = (ret == PX4_OK ? vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED : vehicle_command_ack_s::VEHICLE_RESULT_FAILED)
+			.result = (ret == PX4_OK ? vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED : vehicle_command_ack_s::VEHICLE_RESULT_FAILED),
+			.from_external = 0,
+			.result_param1 = 0,
+			.target_system = msg->sysid,
+			.target_component = msg->compid
 		};
 
 		if (_command_ack_pub == nullptr) {
@@ -564,8 +569,13 @@ out:
 	if (send_ack) {
 		vehicle_command_ack_s command_ack = {
 			.timestamp = 0,
+			.result_param2 = 0,
 			.command = cmd_mavlink.command,
-			.result = (ret == PX4_OK ? vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED : vehicle_command_ack_s::VEHICLE_RESULT_FAILED)
+			.result = (ret == PX4_OK ? vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED : vehicle_command_ack_s::VEHICLE_RESULT_FAILED),
+			.from_external = 0,
+			.result_param1 = 0,
+			.target_system = msg->sysid,
+			.target_component = msg->compid
 		};
 
 		if (_command_ack_pub == nullptr) {
@@ -588,9 +598,13 @@ MavlinkReceiver::handle_message_command_ack(mavlink_message_t *msg)
 
 	vehicle_command_ack_s command_ack = {
 		.timestamp = hrt_absolute_time(),
+		.result_param2 = ack.result_param2,
 		.command = ack.command,
 		.result = ack.result,
-		.from_external = 1
+		.from_external = 1,
+		.result_param1 = ack.progress,
+		.target_system = ack.target_system,
+		.target_component = ack.target_component
 	};
 
 	if (_command_ack_pub == nullptr) {

src/modules/uavcan/uavcan_servers.cpp

@@ -536,8 +536,13 @@ pthread_addr_t UavcanServers::run(pthread_addr_t)
 			// Acknowledge the received command
 			struct vehicle_command_ack_s ack = {
 				.timestamp = 0,
+				.result_param2 = 0,
 				.command = cmd.command,
-				.result = cmd_ack_result
+				.result = cmd_ack_result,
+				.from_external = 0,
+				.result_param1 = 0,
+				.target_system = cmd.source_system,
+				.target_component = cmd.source_component
 			};
 
 			if (_command_ack_pub == nullptr) {