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GCS_MAVLink: use send_to_active_channels for parameters

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Peter Barker 2019-06-06 20:51:24 +10:00 committed by Andrew Tridgell
parent 7780e8ed00
commit a2c4bfea0c
1 changed files with 10 additions and 15 deletions
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25
libraries/GCS_MAVLink/GCS_Param.cpp
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@ -304,21 +304,16 @@ void GCS_MAVLINK::handle_param_set(mavlink_message_t *msg)
*/
void GCS::send_parameter_value(const char *param_name, ap_var_type param_type, float param_value)
{
const uint8_t mavlink_active = GCS_MAVLINK::active_channel_mask();
for (uint8_t i=0; i<MAVLINK_COMM_NUM_BUFFERS; i++) {
if ((1U<<i) & mavlink_active) {
const mavlink_channel_t _chan = (mavlink_channel_t)(MAVLINK_COMM_0+i);
if (HAVE_PAYLOAD_SPACE(_chan, PARAM_VALUE)) {
mavlink_msg_param_value_send(
_chan,
param_name,
param_value,
mav_param_type(param_type),
AP_Param::count_parameters(),
-1);
}
}
}
mavlink_param_value_t packet;
strncpy(packet.param_id, param_name, ARRAY_SIZE(packet.param_id));
packet.param_value = param_value;
packet.param_type = mav_param_type(param_type);
packet.param_count = AP_Param::count_parameters();
packet.param_index = -1;
gcs().send_to_active_channels(MAVLINK_MSG_ID_PARAM_VALUE,
(const char *)&packet);
// also log to AP_Logger
AP_Logger *logger = AP_Logger::get_singleton();
if (logger != nullptr) {