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AP_Param: send saved param values to all GCS

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Peter Barker 2015-10-06 20:54:24 +11:00 committed by Andrew Tridgell
parent 368363531f
commit 046b008889
1 changed files with 10 additions and 0 deletions
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10
libraries/AP_Param/AP_Param.cpp
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@ -29,6 +29,7 @@
#include <AP_Math/AP_Math.h>
#include <AP_Progmem/AP_Progmem.h>
#include <StorageManager/StorageManager.h>
#include <GCS_MAVLink/GCS.h> // for send_parameter_value_all
#include <math.h>
#include <string.h>
@ -707,11 +708,16 @@ bool AP_Param::save(bool force_save)
ap = (const AP_Param *)((uintptr_t)ap) - (idx*sizeof(float));
}
char name[AP_MAX_NAME_SIZE+1];
copy_name_info(info, ginfo, idx, name, sizeof(name), true);
// scan EEPROM to find the right location
uint16_t ofs;
if (scan(&phdr, &ofs)) {
// found an existing copy of the variable
eeprom_write_check(ap, ofs+sizeof(phdr), type_size((enum ap_var_type)phdr.type));
GCS_MAVLINK::send_parameter_value_all(name, (enum ap_var_type)info->type,
cast_to_float((enum ap_var_type)phdr.type));
return true;
}
if (ofs == (uint16_t) ~0) {
@ -728,12 +734,14 @@ bool AP_Param::save(bool force_save)
v2 = get_default_value(&info->def_value);
}
if (is_equal(v1,v2) && !force_save) {
GCS_MAVLINK::send_parameter_value_all(name, (enum ap_var_type)info->type, v2);
return true;
}
if (phdr.type != AP_PARAM_INT32 &&
(fabsf(v1-v2) < 0.0001f*fabsf(v1))) {
// for other than 32 bit integers, we accept values within
// 0.01 percent of the current value as being the same
GCS_MAVLINK::send_parameter_value_all(name, (enum ap_var_type)info->type, v2);
return true;
}
}
@ -748,6 +756,8 @@ bool AP_Param::save(bool force_save)
write_sentinal(ofs + sizeof(phdr) + type_size((enum ap_var_type)phdr.type));
eeprom_write_check(ap, ofs+sizeof(phdr), type_size((enum ap_var_type)phdr.type));
eeprom_write_check(&phdr, ofs, sizeof(phdr));
GCS_MAVLINK::send_parameter_value_all(name, (enum ap_var_type)info->type,
cast_to_float((enum ap_var_type)phdr.type));
return true;
}