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AP_Param: copter with vectors when sending parameters

This commit is contained in:
Andrew Tridgell 2015-11-09 14:27:39 +11:00
parent 3624162b18
commit e873ff1e5f
2 changed files with 25 additions and 6 deletions
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28
libraries/AP_Param/AP_Param.cpp
View File

@ -699,8 +699,7 @@ void AP_Param::notify() const {
param_header_type = PGM_UINT8(&info->type);
}
GCS_MAVLINK::send_parameter_value_all(name, (enum ap_var_type)info->type,
cast_to_float((enum ap_var_type)param_header_type));
send_parameter(name, (enum ap_var_type)param_header_type);
}
@ -747,8 +746,7 @@ bool AP_Param::save(bool force_save)
if (scan(&phdr, &ofs)) {
// found an existing copy of the variable
eeprom_write_check(ap, ofs+sizeof(phdr), type_size((enum ap_var_type)phdr.type));
GCS_MAVLINK::send_parameter_value_all(name, (enum ap_var_type)info->type,
cast_to_float((enum ap_var_type)phdr.type));
send_parameter(name, (enum ap_var_type)phdr.type);
return true;
}
if (ofs == (uint16_t) ~0) {
@ -787,8 +785,8 @@ bool AP_Param::save(bool force_save)
write_sentinal(ofs + sizeof(phdr) + type_size((enum ap_var_type)phdr.type));
eeprom_write_check(ap, ofs+sizeof(phdr), type_size((enum ap_var_type)phdr.type));
eeprom_write_check(&phdr, ofs, sizeof(phdr));
GCS_MAVLINK::send_parameter_value_all(name, (enum ap_var_type)info->type,
cast_to_float((enum ap_var_type)phdr.type));
send_parameter(name, (enum ap_var_type)phdr.type);
return true;
}
@ -1447,3 +1445,21 @@ float AP_Param::get_default_value(const float *def_value_ptr)
return PGM_FLOAT(def_value_ptr);
}
void AP_Param::send_parameter(char *name, enum ap_var_type param_header_type) const
{
if (param_header_type != AP_PARAM_VECTOR3F) {
// nice and simple for scalar types
GCS_MAVLINK::send_parameter_value_all(name, param_header_type, cast_to_float(param_header_type));
return;
}
// for vectors we need to send 3 messages
Vector3f *v = (Vector3f *)this;
char &name_axis = name[strlen(name)-1];
GCS_MAVLINK::send_parameter_value_all(name, AP_PARAM_FLOAT, v->x);
name_axis = 'Y';
GCS_MAVLINK::send_parameter_value_all(name, AP_PARAM_FLOAT, v->y);
name_axis = 'Z';
GCS_MAVLINK::send_parameter_value_all(name, AP_PARAM_FLOAT, v->z);
}

3
libraries/AP_Param/AP_Param.h
View File

@ -179,6 +179,9 @@ public:
///
void notify() const;
// send a parameter to all GCS instances
void send_parameter(char *name, enum ap_var_type param_header_type) const;
/// Save the current value of the variable to EEPROM.
///
/// @param force_save If true then force save even if default