From 8b766efb0ad68bbb0cae2740a9b7836d4df1629d Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Sun, 9 Aug 2020 18:31:59 +0200
Subject: [PATCH] GCS_MAVLink: add support for updating OSD parameters over
 mavlink

---
 libraries/GCS_MAVLink/GCS.h          |  2 ++
 libraries/GCS_MAVLink/GCS_Common.cpp | 15 +++++++++++++++
 2 files changed, 17 insertions(+)

diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index faa94367f0..780760c918 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -394,6 +394,8 @@ protected:
     void handle_distance_sensor(const mavlink_message_t &msg);
     void handle_obstacle_distance(const mavlink_message_t &msg);
 
+    void handle_osd_param_config(const mavlink_message_t &msg);
+
     void handle_common_param_message(const mavlink_message_t &msg);
     void handle_param_set(const mavlink_message_t &msg);
     void handle_param_request_list(const mavlink_message_t &msg);
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 0e1159ed9a..d3ab2ccb1d 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -44,6 +44,7 @@
 #include <AP_Proximity/AP_Proximity.h>
 #include <AP_Scripting/AP_Scripting.h>
 #include <AP_Winch/AP_Winch.h>
+#include <AP_OSD/AP_OSD.h>
 
 #include <stdio.h>
 
@@ -3168,6 +3169,16 @@ void GCS_MAVLINK::handle_obstacle_distance(const mavlink_message_t &msg)
     }
 }
 
+void GCS_MAVLINK::handle_osd_param_config(const mavlink_message_t &msg)
+{
+#if OSD_ENABLED
+    AP_OSD *osd = AP::osd();
+    if (osd != nullptr) {
+        osd->handle_msg(msg, *this);
+    }
+#endif
+}
+
 /*
   handle messages which don't require vehicle specific data
  */
@@ -3354,6 +3365,10 @@ void GCS_MAVLINK::handle_common_message(const mavlink_message_t &msg)
         handle_obstacle_distance(msg);
         break;
 
+    case MAVLINK_MSG_ID_OSD_PARAM_CONFIG:
+    case MAVLINK_MSG_ID_OSD_PARAM_SHOW_CONFIG:
+        handle_osd_param_config(msg);
+        break;
     }
 
 }