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feat(msg): add frame field, bump to v1

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COMMAND_INT carries a frame field on the wire that determines whether
param5/6/7 are AMSL, home-relative, or terrain-relative, but
vehicle_command_s had nowhere to put it - so navigator handlers always
assumed AMSL.

Bump v0 -> v1 with a v0 translation that defaults the new field to
FRAME_GLOBAL so external px4_msgs_old consumers keep building.

Signed-off-by: Julian Oes <julian@oes.ch>
This commit is contained in:
Julian Oes
2026-05-05 12:06:33 +12:00
parent 344ada6216
commit d87a73e23b
3 changed files with 75 additions and 1 deletions
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msg/versioned/VehicleCommand.msg
+11 -1
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@@ -1,10 +1,19 @@
# Vehicle Command uORB message. Used for commanding a mission / action / etc.
# Follows the MAVLink COMMAND_INT / COMMAND_LONG definition
uint32 MESSAGE_VERSION = 0
uint32 MESSAGE_VERSION = 1
uint64 timestamp # [us] Time since system start.
# Frame of reference for the lat/lon/alt fields (param5/6/7), mirrors MAV_FRAME.
# Only frames relevant to position-bearing commands are listed.
uint8 FRAME_GLOBAL = 0 # WGS84 (MSL altitude)
uint8 FRAME_GLOBAL_RELATIVE_ALT = 3 # Altitude is relative to home
uint8 FRAME_GLOBAL_INT = 5 # Same as FRAME_GLOBAL but coordinates are int32
uint8 FRAME_GLOBAL_RELATIVE_ALT_INT = 6 # Same as FRAME_GLOBAL_RELATIVE_ALT but int32 coords
uint8 FRAME_GLOBAL_TERRAIN_ALT = 10 # Altitude is meters above terrain (AGL)
uint8 FRAME_GLOBAL_TERRAIN_ALT_INT = 11 # Same as FRAME_GLOBAL_TERRAIN_ALT but int32 coords
uint16 VEHICLE_CMD_CUSTOM_0 = 0 # Test command.
uint16 VEHICLE_CMD_CUSTOM_1 = 1 # Test command.
uint16 VEHICLE_CMD_CUSTOM_2 = 2 # Test command.
@@ -212,6 +221,7 @@ float32 param4 # Parameter 4, as defined by MAVLink uint16 VEHICLE_CMD enum.
float64 param5 # Parameter 5, as defined by MAVLink uint16 VEHICLE_CMD enum.
float64 param6 # Parameter 6, as defined by MAVLink uint16 VEHICLE_CMD enum.
float32 param7 # Parameter 7, as defined by MAVLink uint16 VEHICLE_CMD enum.
uint8 frame # Frame of reference for param5/6/7 (FRAME_* constants above). Defaults to FRAME_GLOBAL when received via COMMAND_LONG which has no frame field.
uint32 command # Command ID.
uint8 target_system # System which should execute the command.
uint8 target_component # Component which should execute the command, 0 for all components.