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GCS_MAVLink: provide facilities to send param values to all GCS

This commit is contained in:
Peter Barker 2015-10-06 20:54:05 +11:00 committed by Andrew Tridgell
parent 5c3486d003
commit 368363531f
2 changed files with 27 additions and 15 deletions
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7
libraries/GCS_MAVLink/GCS.h
View File

@ -166,6 +166,9 @@ public:
*/
static void send_statustext_all(MAV_SEVERITY severity, const char *fmt, ...);
// send a PARAM_VALUE message to all active MAVLink connections.
static void send_parameter_value_all(const char *param_name, ap_var_type param_type, float param_value);
/*
send a MAVLink message to all components with this vehicle's system id
This is a no-op if no routes to components have been learned
@ -209,10 +212,10 @@ private:
///
/// @return The number of reportable parameters.
///
uint16_t _count_parameters(); ///< count reportable
static uint16_t _count_parameters(); ///< count reportable
// parameters
uint16_t _parameter_count; ///< cache of reportable
static uint16_t _parameter_count; ///< cache of reportable
// parameters
mavlink_channel_t chan;

35
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -26,6 +26,7 @@ extern const AP_HAL::HAL& hal;
uint32_t GCS_MAVLINK::last_radio_status_remrssi_ms;
uint8_t GCS_MAVLINK::mavlink_active = 0;
uint16_t GCS_MAVLINK::_parameter_count;
GCS_MAVLINK::GCS_MAVLINK() :
waypoint_receive_timeout(5000)
@ -591,19 +592,6 @@ void GCS_MAVLINK::handle_param_set(mavlink_message_t *msg, DataFlash_Class *Data
// save the change
vp->save(force_save);
// Report back the new value if we accepted the change
// we send the value we actually set, which could be
// different from the value sent, in case someone sent
// a fractional value to an integer type
mavlink_msg_param_value_send_buf(
msg,
chan,
key,
vp->cast_to_float(var_type),
mav_var_type(var_type),
_count_parameters(),
-1); // XXX we don't actually know what its index is...
if (DataFlash != NULL) {
DataFlash->Log_Write_Parameter(key, vp->cast_to_float(var_type));
}
@ -1181,6 +1169,27 @@ void GCS_MAVLINK::send_statustext_all(MAV_SEVERITY severity, const char *fmt, ..
}
}
/*
send a parameter value message to all active MAVLink connections
*/
void GCS_MAVLINK::send_parameter_value_all(const char *param_name, ap_var_type param_type, float param_value)
{
for (uint8_t i=0; i<MAVLINK_COMM_NUM_BUFFERS; i++) {
if ((1U<<i) & mavlink_active) {
mavlink_channel_t chan = (mavlink_channel_t)(MAVLINK_COMM_0+i);
if (comm_get_txspace(chan) >= MAVLINK_NUM_NON_PAYLOAD_BYTES + MAVLINK_MSG_ID_PARAM_VALUE_LEN) {
mavlink_msg_param_value_send(
chan,
param_name,
param_value,
mav_var_type(param_type),
_count_parameters(),
-1);
}
}
}
}
// report battery2 state
void GCS_MAVLINK::send_battery2(const AP_BattMonitor &battery)
{