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Copter: restore CLI set parameter feature

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Added back the ability to set params from CLI
This commit is contained in:
Jason Short 2014-08-29 14:00:29 -07:00 committed by Randy Mackay
parent 21ed86004a
commit 0dd9797fe6
1 changed files with 61 additions and 0 deletions
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61
ArduCopter/setup.pde
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@ -9,6 +9,7 @@
// Functions called from the setup menu
static int8_t setup_factory (uint8_t argc, const Menu::arg *argv);
static int8_t setup_show (uint8_t argc, const Menu::arg *argv);
static int8_t setup_set (uint8_t argc, const Menu::arg *argv);
#ifdef WITH_ESC_CALIB
static int8_t esc_calib (uint8_t argc, const Menu::arg *argv);
#endif
@ -19,6 +20,7 @@ const struct Menu::command setup_menu_commands[] PROGMEM = {
// ======= ===============
{"reset", setup_factory},
{"show", setup_show},
{"set", setup_set},
#ifdef WITH_ESC_CALIB
{"esc_calib", esc_calib},
#endif
@ -66,6 +68,65 @@ setup_factory(uint8_t argc, const Menu::arg *argv)
return(0);
}
//Set a parameter to a specified value. It will cast the value to the current type of the
//parameter and make sure it fits in case of INT8 and INT16
static int8_t setup_set(uint8_t argc, const Menu::arg *argv)
{
int8_t value_int8;
int16_t value_int16;
AP_Param *param;
enum ap_var_type p_type;
if(argc!=3)
{
cliSerial->printf_P(PSTR("Invalid command. Usage: set <name> <value>\n"));
return 0;
}
param = AP_Param::find(argv[1].str, &p_type);
if(!param)
{
cliSerial->printf_P(PSTR("Param not found: %s\n"), argv[1].str);
return 0;
}
switch(p_type)
{
case AP_PARAM_INT8:
value_int8 = (int8_t)(argv[2].i);
if(argv[2].i!=value_int8)
{
cliSerial->printf_P(PSTR("Value out of range for type INT8\n"));
return 0;
}
((AP_Int8*)param)->set_and_save(value_int8);
break;
case AP_PARAM_INT16:
value_int16 = (int16_t)(argv[2].i);
if(argv[2].i!=value_int16)
{
cliSerial->printf_P(PSTR("Value out of range for type INT16\n"));
return 0;
}
((AP_Int16*)param)->set_and_save(value_int16);
break;
//int32 and float don't need bounds checking, just use the value provoded by Menu::arg
case AP_PARAM_INT32:
((AP_Int32*)param)->set_and_save(argv[2].i);
break;
case AP_PARAM_FLOAT:
((AP_Float*)param)->set_and_save(argv[2].f);
break;
default:
cliSerial->printf_P(PSTR("Cannot set parameter of type %d.\n"), p_type);
break;
}
return 0;
}
// Print the current configuration.
// Called by the setup menu 'show' command.
static int8_t