send acknowledgement after receiving vehicle wind cmd

dirksavage88 · Sep 12, 2024 · 22c2878 · 22c2878
1 parent 741ea6b
commit 22c2878
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
@@ -571,7 +571,12 @@ void EKF2::Run()
 				const float wind_direction_accuracy_rad = math::radians(vehicle_command.param4);
 				_ekf.resetWindToExternalObservation(vehicle_command.param1, wind_direction_rad, vehicle_command.param2,
 								    wind_direction_accuracy_rad);
+				command_ack.result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
+#else
+				command_ack.result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
 #endif // CONFIG_EKF2_WIND
+				command_ack.timestamp = hrt_absolute_time();
+				_vehicle_command_ack_pub.publish(command_ack);
 			}
 		}
 	}