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MAVLink: enable fetching of single parameters 

this makes it possible for the GCS to fetch a single parameter by
name, which is useful for parameters that change in flight
This commit is contained in:
Andrew Tridgell 2012-08-16 10:14:46 +10:00
parent 41a974683e
commit 0a7d8a4933
2 changed files with 66 additions and 0 deletions
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33
ArduCopter/GCS_Mavlink.pde
View File

@ -15,6 +15,9 @@ static bool mavlink_active;
// check if a message will fit in the payload space available
#define CHECK_PAYLOAD_SIZE(id) if (payload_space < MAVLINK_MSG_ID_## id ##_LEN) return false
// prototype this for use inside the GCS class
static void gcs_send_text_fmt(const prog_char_t *fmt, ...);
/*
!!NOTE!!
@ -1287,6 +1290,36 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
case MAVLINK_MSG_ID_PARAM_REQUEST_READ:
{
// decode
mavlink_param_request_read_t packet;
mavlink_msg_param_request_read_decode(msg, &packet);
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
if (packet.param_index != -1) {
gcs_send_text_P(SEVERITY_LOW, PSTR("Param by index not supported"));
break;
}
enum ap_var_type p_type;
AP_Param *vp = AP_Param::find(packet.param_id, &p_type);
if (vp == NULL) {
gcs_send_text_fmt(PSTR("Unknown parameter %s"), packet.param_id);
break;
}
char param_name[ONBOARD_PARAM_NAME_LENGTH];
vp->copy_name(param_name, sizeof(param_name), true);
float value = vp->cast_to_float(p_type);
mavlink_msg_param_value_send(
chan,
param_name,
value,
mav_var_type(p_type),
-1, -1);
break;
}
case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: // 45
{
//send_text_P(SEVERITY_LOW,PSTR("waypoint clear all"));

33
ArduPlane/GCS_Mavlink.pde
View File

@ -13,6 +13,9 @@ static bool mavlink_active;
// check if a message will fit in the payload space available
#define CHECK_PAYLOAD_SIZE(id) if (payload_space < MAVLINK_MSG_ID_## id ##_LEN) return false
// prototype this for use inside the GCS class
void gcs_send_text_fmt(const prog_char_t *fmt, ...);
/*
!!NOTE!!
@ -1255,6 +1258,36 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
case MAVLINK_MSG_ID_PARAM_REQUEST_READ:
{
// decode
mavlink_param_request_read_t packet;
mavlink_msg_param_request_read_decode(msg, &packet);
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
if (packet.param_index != -1) {
gcs_send_text_P(SEVERITY_LOW, PSTR("Param by index not supported"));
break;
}
enum ap_var_type p_type;
AP_Param *vp = AP_Param::find(packet.param_id, &p_type);
if (vp == NULL) {
gcs_send_text_fmt(PSTR("Unknown parameter %s"), packet.param_id);
break;
}
char param_name[ONBOARD_PARAM_NAME_LENGTH];
vp->copy_name(param_name, sizeof(param_name), true);
float value = vp->cast_to_float(p_type);
mavlink_msg_param_value_send(
chan,
param_name,
value,
mav_var_type(p_type),
-1, -1);
break;
}
case MAVLINK_MSG_ID_MISSION_CLEAR_ALL:
{
// decode