mirror of https://github.com/ArduPilot/ardupilot
45 lines
1.5 KiB
C++
45 lines
1.5 KiB
C++
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#include "MsgHandler_PARM.h"
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bool MsgHandler::set_parameter(const char *name, float value)
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{
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const char *ignore_parms[] = { "GPS_TYPE", "AHRS_EKF_USE" };
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for (uint8_t i=0; i<sizeof(ignore_parms)/sizeof(ignore_parms[0]); i++) {
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if (strncmp(name, ignore_parms[i], AP_MAX_NAME_SIZE) == 0) {
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::printf("Ignoring set of %s to %f\n", name, value);
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return true;
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}
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}
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enum ap_var_type var_type;
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AP_Param *vp = AP_Param::find(name, &var_type);
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if (vp == NULL) {
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return false;
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}
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if (var_type == AP_PARAM_FLOAT) {
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((AP_Float *)vp)->set(value);
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::printf("Set %s to %f\n", name, value);
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} else if (var_type == AP_PARAM_INT32) {
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((AP_Int32 *)vp)->set(value);
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::printf("Set %s to %d\n", name, (int)value);
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} else if (var_type == AP_PARAM_INT16) {
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((AP_Int16 *)vp)->set(value);
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::printf("Set %s to %d\n", name, (int)value);
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} else if (var_type == AP_PARAM_INT8) {
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((AP_Int8 *)vp)->set(value);
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::printf("Set %s to %d\n", name, (int)value);
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} else {
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// we don't support mavlink set on this parameter
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return false;
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}
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return true;
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}
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void MsgHandler_PARM::process_message(uint8_t *msg)
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{
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const uint8_t parameter_name_len = AP_MAX_NAME_SIZE + 1; // null-term
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char parameter_name[parameter_name_len];
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require_field(msg, "Name", parameter_name, parameter_name_len);
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set_parameter(parameter_name, require_field_float(msg, "Value"));
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}
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