From 22f48ce8b0af3f3db7483902ee66fe5bf297d14e Mon Sep 17 00:00:00 2001
From: Brian Webb <webbbn@gmail.com>
Date: Wed, 2 May 2012 20:42:37 -0700
Subject: [PATCH] Exposed the Send ACK/NACK function in UAVTalk.

---
 flight/UAVTalk/inc/uavtalk.h |  2 ++
 flight/UAVTalk/uavtalk.c     | 30 ++++++++++++++++++++++++++++++
 2 files changed, 32 insertions(+)

diff --git a/flight/UAVTalk/inc/uavtalk.h b/flight/UAVTalk/inc/uavtalk.h
index f15dd1a0a..a45fdb0db 100644
--- a/flight/UAVTalk/inc/uavtalk.h
+++ b/flight/UAVTalk/inc/uavtalk.h
@@ -53,6 +53,8 @@ int32_t UAVTalkSetOutputStream(UAVTalkConnection connection, UAVTalkOutputStream
 UAVTalkOutputStream UAVTalkGetOutputStream(UAVTalkConnection connection);
 int32_t UAVTalkSendObject(UAVTalkConnection connection, UAVObjHandle obj, uint16_t instId, uint8_t acked, int32_t timeoutMs);
 int32_t UAVTalkSendObjectRequest(UAVTalkConnection connection, UAVObjHandle obj, uint16_t instId, int32_t timeoutMs);
+int32_t UAVTalkSendAck(UAVTalkConnection connectionHandle, UAVObjHandle obj, uint16_t instId);
+int32_t UAVTalkSendNack(UAVTalkConnection connectionHandle, uint32_t objId);
 UAVTalkRxState UAVTalkProcessInputStream(UAVTalkConnection connection, uint8_t rxbyte);
 UAVTalkRxState UAVTalkProcessInputStreamQuiet(UAVTalkConnection connection, uint8_t rxbyte);
 void UAVTalkGetStats(UAVTalkConnection connection, UAVTalkStats *stats);
diff --git a/flight/UAVTalk/uavtalk.c b/flight/UAVTalk/uavtalk.c
index 4e944d2ae..bf0d7e100 100644
--- a/flight/UAVTalk/uavtalk.c
+++ b/flight/UAVTalk/uavtalk.c
@@ -489,6 +489,36 @@ UAVTalkRxState UAVTalkProcessInputStream(UAVTalkConnection connectionHandle, uin
 	return state;
 }
 
+/**
+ * Send a ACK through the telemetry link.
+ * \param[in] connectionHandle UAVTalkConnection to be used
+ * \param[in] objId Object ID to send a NACK for
+ * \return 0 Success
+ * \return -1 Failure
+ */
+int32_t UAVTalkSendAck(UAVTalkConnection connectionHandle, UAVObjHandle obj, uint16_t instId)
+{
+	UAVTalkConnectionData *connection;
+	CHECKCONHANDLE(connectionHandle,connection,return -1);
+
+	return sendObject(connection, obj, instId, UAVTALK_TYPE_ACK);
+}
+
+/**
+ * Send a NACK through the telemetry link.
+ * \param[in] connectionHandle UAVTalkConnection to be used
+ * \param[in] objId Object ID to send a NACK for
+ * \return 0 Success
+ * \return -1 Failure
+ */
+int32_t UAVTalkSendNack(UAVTalkConnection connectionHandle, uint32_t objId)
+{
+	UAVTalkConnectionData *connection;
+	CHECKCONHANDLE(connectionHandle,connection,return -1);
+
+	return sendNack(connection, objId);
+}
+
 /**
  * Receive an object. This function process objects received through the telemetry stream.
  * \param[in] connection UAVTalkConnection to be used