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ACM: allow fetch of parameters by index

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this makes it more efficient to re-fetch parameters that are missing
This commit is contained in:
Andrew Tridgell 2012-11-22 00:09:33 +11:00
parent 3e0f4345e7
commit dbdb3e1194
1 changed files with 15 additions and 10 deletions
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25
ArduCopter/GCS_Mavlink.pde
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@ -1358,16 +1358,20 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
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;
AP_Param *vp;
if (packet.param_index != -1) {
vp = AP_Param::find_by_index(packet.param_index, &p_type);
if (vp == NULL) {
gcs_send_text_fmt(PSTR("Unknown parameter index %d"), packet.param_index);
break;
}
} else {
vp = AP_Param::find(packet.param_id, &p_type);
if (vp == NULL) {
gcs_send_text_fmt(PSTR("Unknown parameter %.16s"), packet.param_id);
break;
}
}
char param_name[AP_MAX_NAME_SIZE];
vp->copy_name(param_name, sizeof(param_name), true);
@ -1378,7 +1382,8 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
param_name,
value,
mav_var_type(p_type),
-1, -1);
_count_parameters(),
packet.param_index);
break;
}