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ardupilot/libraries/AP_OSD/AP_OSD_ParamScreen.cpp

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/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*
* AP_OSD partially based on betaflight and inav osd.c implemention.
* clarity.mcm font is taken from inav configurator.
* Many thanks to their authors.
*/
/*
parameter settings for one screen
*/
#include "AP_OSD.h"
#include "AP_OSD_Backend.h"
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/Util.h>
#include <limits.h>
#include <ctype.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
#include <AP_Arming/AP_Arming.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
#include <GCS_MAVLink/GCS.h>
extern const AP_HAL::HAL& hal;
#if OSD_PARAM_ENABLED
const AP_Param::GroupInfo AP_OSD_ParamScreen::var_info[] = {
// @Param: ENABLE
// @DisplayName: Enable screen
// @Description: Enable this screen
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO_FLAGS("ENABLE", 1, AP_OSD_ParamScreen, enabled, 0, AP_PARAM_FLAG_ENABLE),
// @Param: CHAN_MIN
// @DisplayName: Transmitter switch screen minimum pwm
// @Description: This sets the PWM lower limit for this screen
// @Range: 900 2100
// @User: Standard
AP_GROUPINFO("CHAN_MIN", 2, AP_OSD_ParamScreen, channel_min, 900),
// @Param: CHAN_MAX
// @DisplayName: Transmitter switch screen maximum pwm
// @Description: This sets the PWM upper limit for this screen
// @Range: 900 2100
// @User: Standard
AP_GROUPINFO("CHAN_MAX", 3, AP_OSD_ParamScreen, channel_max, 2100),
// @Group: PARAM1
// @Path: AP_OSD_ParamSetting.cpp
AP_SUBGROUPINFO(params[0], "PARAM1", 4, AP_OSD_ParamScreen, AP_OSD_ParamSetting),
// @Group: PARAM2
// @Path: AP_OSD_ParamSetting.cpp
AP_SUBGROUPINFO(params[1], "PARAM2", 5, AP_OSD_ParamScreen, AP_OSD_ParamSetting),
// @Group: PARAM3
// @Path: AP_OSD_ParamSetting.cpp
AP_SUBGROUPINFO(params[2], "PARAM3", 6, AP_OSD_ParamScreen, AP_OSD_ParamSetting),
// @Group: PARAM4
// @Path: AP_OSD_ParamSetting.cpp
AP_SUBGROUPINFO(params[3], "PARAM4", 7, AP_OSD_ParamScreen, AP_OSD_ParamSetting),
// @Group: PARAM5
// @Path: AP_OSD_ParamSetting.cpp
AP_SUBGROUPINFO(params[4], "PARAM5", 8, AP_OSD_ParamScreen, AP_OSD_ParamSetting),
// @Group: PARAM6
// @Path: AP_OSD_ParamSetting.cpp
AP_SUBGROUPINFO(params[5], "PARAM6", 9, AP_OSD_ParamScreen, AP_OSD_ParamSetting),
// @Group: PARAM7
// @Path: AP_OSD_ParamSetting.cpp
AP_SUBGROUPINFO(params[6], "PARAM7", 10, AP_OSD_ParamScreen, AP_OSD_ParamSetting),
// @Group: PARAM8
// @Path: AP_OSD_ParamSetting.cpp
AP_SUBGROUPINFO(params[7], "PARAM8", 11, AP_OSD_ParamScreen, AP_OSD_ParamSetting),
// @Group: PARAM9
// @Path: AP_OSD_ParamSetting.cpp
AP_SUBGROUPINFO(params[8], "PARAM9", 12, AP_OSD_ParamScreen, AP_OSD_ParamSetting),
// @Param: SAVE_X
// @DisplayName: SAVE_X
// @Description: Horizontal position of Save button on screen
// @Range: 0 25
// @User: Advanced
AP_GROUPINFO("SAVE_X", 13, AP_OSD_ParamScreen, save_x, 23),
// @Param: SAVE_Y
// @DisplayName: SAVE_Y
// @Description: Vertical position of Save button on screen
// @Range: 0 15
// @User: Advanced
AP_GROUPINFO("SAVE_Y", 14, AP_OSD_ParamScreen, save_y, 11),
AP_GROUPEND
};
#define OSD_HOLD_BUTTON_PRESS_DELAY 100
#define OSD_HOLD_BUTTON_PRESS_COUNT 18
#define OSD_PARAM_DEBUG 0
#if OSD_PARAM_DEBUG
static const char* event_names[5] = {
"NONE", "MENU_ENTER", "MENU_UP", "MENU_DOWN", "IN_MENU_EXIT"
};
#define debug(fmt, args ...) do { hal.console->printf("OSD: " fmt, args); } while (0)
#else
#define debug(fmt, args ...)
#endif
static const AP_OSD_ParamSetting::Initializer PARAM_DEFAULTS[AP_OSD_NUM_PARAM_SCREENS][AP_OSD_ParamScreen::NUM_PARAMS] {
#if APM_BUILD_COPTER_OR_HELI
{
{ 1, { 102, 0, 4033 }, AP_OSD_ParamSetting::Type::NONE }, // ATC_RAT_RLL_P
{ 2, { 102, 0, 129 }, AP_OSD_ParamSetting::Type::NONE }, // ATC_RAT_RLL_D
{ 3, { 102, 0, 705 }, AP_OSD_ParamSetting::Type::NONE }, // ATC_RAT_RLL_FLTD
{ 4, { 102, 0, 4034 }, AP_OSD_ParamSetting::Type::NONE }, // ATC_RAT_PIT_P
{ 5, { 102, 0, 130 }, AP_OSD_ParamSetting::Type::NONE }, // ATC_RAT_PIT_D
{ 6, { 102, 0, 706 }, AP_OSD_ParamSetting::Type::NONE }, // ATC_RAT_PIT_FLTD
{ 7, { 102, 0, 4035 }, AP_OSD_ParamSetting::Type::NONE }, // ATC_RAT_YAW_P
{ 8, { 102, 0, 131 }, AP_OSD_ParamSetting::Type::NONE }, // ATC_RAT_YAW_D
{ 9, { 102, 0, 643 }, AP_OSD_ParamSetting::Type::NONE } // ATC_RAT_YAW_FLTE
},
{
{ 1, { 3, 0, 231 }, AP_OSD_ParamSetting::Type::NONE }, // INS_LOG_BAT_OPT
{ 2, { 3, 0, 167 }, AP_OSD_ParamSetting::Type::NONE }, // INS_LOG_BAT_MASK
{ 3, { 60, 0, 0 }, AP_OSD_ParamSetting::Type::NONE }, // LOG_BITMASK
{ 4, { 3, 0, 18 }, AP_OSD_ParamSetting::Type::NONE }, // INS_GYRO_FILT
{ 5, { 102, 0, 6 }, AP_OSD_ParamSetting::Type::NONE }, // ATC_THR_MIX_MAN
{ 6, { 102, 0, 5 }, AP_OSD_ParamSetting::Type::NONE }, // ATC_THR_MIX_MAX
{ 7, { 6, 0, 25041 }, AP_OSD_ParamSetting::Type::AUX_FUNCTION }, // RC7_OPTION
{ 8, { 6, 0, 25105 }, AP_OSD_ParamSetting::Type::AUX_FUNCTION }, // RC8_OPTION
{ 9, { 36, 0, 1047 }, AP_OSD_ParamSetting::Type::FAILSAFE_ACTION_2 } // BATT_FS_LOW_ACT
}
#elif APM_BUILD_TYPE(APM_BUILD_ArduPlane)
{
{ 1, { 232, 0, 265 }, AP_OSD_ParamSetting::Type::NONE }, // RLL_RATE_FF
{ 2, { 232, 0, 4041 }, AP_OSD_ParamSetting::Type::NONE }, // RLL_RATE_P
{ 3, { 232, 0, 73 }, AP_OSD_ParamSetting::Type::NONE }, // RLL_RATE_I
{ 4, { 233, 0, 267 }, AP_OSD_ParamSetting::Type::NONE }, // PTCH_RATE_FF
{ 5, { 233, 0, 4043 }, AP_OSD_ParamSetting::Type::NONE }, // PTCH_RATE_P
{ 6, { 233, 0, 75 }, AP_OSD_ParamSetting::Type::NONE }, // PTCH_RATE_I
{ 7, { 233, 0, 6 }, AP_OSD_ParamSetting::Type::NONE }, // PTCH2SRV_RLL
{ 8, { 199, 0, 1 }, AP_OSD_ParamSetting::Type::NONE }, // TUNE_PARAM
{ 9, { 199, 0, 320 }, AP_OSD_ParamSetting::Type::NONE } // TUNE_RANGE
},
{
{ 1, { 185, 0, 0 }, AP_OSD_ParamSetting::Type::NONE }, // TRIM_THROTTLE
{ 2, { 155, 0, 0 }, AP_OSD_ParamSetting::Type::NONE }, // AIRSPEED_CRUISE
{ 3, { 4, 0, 1094 }, AP_OSD_ParamSetting::Type::NONE }, // SERVO_AUTO_TRIM
{ 4, { 120, 0, 0 }, AP_OSD_ParamSetting::Type::NONE}, // AIRSPEED_MIN
{ 5, { 121, 0, 0 }, AP_OSD_ParamSetting::Type::NONE }, // AIRSPEED_MAX
{ 6, { 156, 0, 0 }, AP_OSD_ParamSetting::Type::NONE }, // RTL_ALTITUDE
{ 7, { 140, 2, 8 }, AP_OSD_ParamSetting::Type::NONE }, // AHRS_TRIM_Y
{ 8, { 182, 0, 0 }, AP_OSD_ParamSetting::Type::NONE }, // THR_MAX
{ 9, { 189, 0, 0 }, AP_OSD_ParamSetting::Type::NONE } // THR_SLEWRATE
}
#else
{
{ 1 }, { 2 }, { 3 }, { 4 }, { 5 }, { 6 }, { 7 }, { 8 }, { 9 },
},
{
{ 1 }, { 2 }, { 3 }, { 4 }, { 5 }, { 6 }, { 7 }, { 8 }, { 9 }
}
#endif
};
AP_OSD_ParamScreen::AP_OSD_ParamScreen(uint8_t index)
{
for (uint8_t i = 0; i < NUM_PARAMS; i++) {
params[i] = PARAM_DEFAULTS[index][i];
}
AP_Param::setup_object_defaults(this, var_info);
}
AP_OSD_ParamSetting* AP_OSD_ParamScreen::get_setting(uint8_t param_idx)
{
if (param_idx >= NUM_PARAMS) {
return nullptr;
}
params[param_idx].update(); // make sure we are fresh
return &params[param_idx];
}
#if OSD_ENABLED
void AP_OSD_ParamScreen::draw_parameter(uint8_t number, uint8_t x, uint8_t y)
{
bool param_blink = false;
bool value_blink = false;
const bool selected = number == _selected_param;
switch(_menu_state) {
case MenuState::PARAM_SELECT:
param_blink = selected;
break;
case MenuState::PARAM_VALUE_MODIFY:
value_blink = selected;
break;
case MenuState::PARAM_PARAM_MODIFY:
param_blink = value_blink = selected;
break;
}
if (number >= NUM_PARAMS + 1) {
backend->write(x, y, param_blink, "%s", _requires_save ? " SAVE" : "REBOOT");
return;
}
AP_OSD_ParamSetting& setting = params[number-1];
setting.update();
ap_var_type type = setting._param_type;
AP_Param* p = setting._param;
if (p != nullptr) {
// grab the name of the parameter
char name[17];
setting.copy_name(name, 17);
const AP_OSD_ParamSetting::ParamMetadata* metadata = setting.get_custom_metadata();
uint16_t value_pos = 19;
backend->write(x, y, param_blink, "%s:", name);
switch (type) {
case AP_PARAM_INT8: {
int8_t val = ((AP_Int8*)p)->get();
if (metadata != nullptr && val >= 0 && val < metadata->values_max) {
backend->write(value_pos, y, value_blink, "%s", metadata->values[val]);
} else {
backend->write(value_pos, y, value_blink, "%hhd", val);
}
break;
}
case AP_PARAM_INT16: {
int16_t val = ((AP_Int16*)p)->get();
if (metadata != nullptr && val >= 0 && val < metadata->values_max) {
backend->write(value_pos, y, value_blink, "%s", metadata->values[val]);
} else {
backend->write(value_pos, y, value_blink, "%hd", val);
}
break;
}
case AP_PARAM_INT32: {
int32_t val = ((AP_Int16*)p)->get();
if (metadata != nullptr && val >= 0 && val < metadata->values_max) {
backend->write(value_pos, y, value_blink, "%s", metadata->values[val]);
} else {
backend->write(value_pos, y, value_blink, "%d", (signed)val);
}
break;
}
case AP_PARAM_FLOAT: {
const float val = ((AP_Float*)p)->get();
// cope with really small value
if (val < 0.01 && !is_zero(val)) {
backend->write(value_pos, y, value_blink, "%.4f", val);
} else if (val < 0.001 && !is_zero(val)) {
backend->write(value_pos, y, value_blink, "%.5f", val);
} else {
backend->write(value_pos, y, value_blink, "%.3f", val);
}
break;
}
case AP_PARAM_VECTOR3F:
case AP_PARAM_NONE:
case AP_PARAM_GROUP:
break;
}
}
}
// modify the selected parameter number
void AP_OSD_ParamScreen::modify_parameter(uint8_t number, Event ev)
{
if (number > NUM_PARAMS) {
return;
}
const AP_OSD_ParamSetting& setting = params[number-1];
AP_Param* p = setting._param;
if (p == nullptr || p->is_read_only()) {
return;
}
_requires_save |= 1 << (number-1);
const float incr = setting._param_incr * ((ev == Event::MENU_DOWN) ? -1.0f : 1.0f);
const int32_t incr_int = int32_t(roundf(incr));
const int32_t max_int = int32_t(roundf(setting._param_max));
const int32_t min_int = int32_t(roundf(setting._param_min));
switch (setting._param_type) {
// there is no way to validate the ranges, so as a rough guess prevent
// integer types going below -1;
case AP_PARAM_INT8: {
AP_Int8* param = (AP_Int8*)p;
param->set(constrain_int16(param->get() + incr_int, min_int, max_int));
break;
}
case AP_PARAM_INT16: {
AP_Int16* param = (AP_Int16*)p;
param->set(constrain_int16(param->get() + incr_int, min_int, max_int));
break;
}
case AP_PARAM_INT32: {
AP_Int32* param = (AP_Int32*)p;
param->set(constrain_int32(param->get() + incr_int, min_int, max_int));
break;
}
case AP_PARAM_FLOAT: {
AP_Float* param = (AP_Float*)p;
param->set(constrain_float(param->get() + incr, setting._param_min, setting._param_max));
break;
}
case AP_PARAM_VECTOR3F:
case AP_PARAM_NONE:
case AP_PARAM_GROUP:
break;
}
}
// modify which parameter is configured for the given selection
void AP_OSD_ParamScreen::modify_configured_parameter(uint8_t number, Event ev)
{
if (number > NUM_PARAMS) {
return;
}
_requires_save |= 1 << (number-1);
AP_OSD_ParamSetting& setting = params[number-1];
AP_Param* param;
if (ev == Event::MENU_DOWN) {
param = AP_Param::next_scalar(&setting._current_token, &setting._param_type);
} else {
// going backwards is somewhat convoluted as the param code is geared for going forward
ap_var_type type = AP_PARAM_NONE, prev_type = AP_PARAM_NONE, prev_prev_type = AP_PARAM_NONE;
AP_Param::ParamToken token {}, prev_token, prev_prev_token;
for (param = AP_Param::first(&token, &type);
param && (setting._current_token.key != token.key
|| setting._current_token.idx != token.idx
|| setting._current_token.group_element != token.group_element);
param = AP_Param::next_scalar(&token, &type)) {
prev_prev_token = prev_token;
prev_prev_type = prev_type;
prev_token = token;
prev_type = type;
}
if (param != nullptr) {
param = AP_Param::next_scalar(&prev_prev_token, &prev_prev_type);
setting._current_token = prev_prev_token;
setting._param_type = prev_prev_type;
}
}
if (param != nullptr) {
// update the stored index
setting._param_group.set(setting._current_token.group_element);
setting._param_key.set(AP_Param::get_persistent_key(setting._current_token.key));
setting._param_idx.set(setting._current_token.idx);
setting._param = param;
setting._type.set(AP_OSD_ParamSetting::Type::NONE);
// force update() to refresh the token
setting._current_token.key = 0;
setting._current_token.idx = 0;
setting._current_token.group_element = 0;
}
}
// return radio values as LOW, MIDDLE, HIGH
// this function uses different threshold values to RC_Chanel::get_aux_switch_pos()
// to avoid glitching on the stick travel
RC_Channel::AuxSwitchPos AP_OSD_ParamScreen::get_channel_pos(const RC_Channel &chanref) const
{
const auto *chan = &chanref;
const uint16_t in = chan->get_radio_in();
if (in <= 900 || in >= 2200) {
return RC_Channel::AuxSwitchPos::LOW;
}
// switch is reversed if 'reversed' option set on channel and switches reverse is allowed by RC_OPTIONS
bool switch_reversed = chan->get_reverse() && rc().option_is_enabled(RC_Channels::Option::ALLOW_SWITCH_REV);
if (in < RC_Channel::AUX_PWM_TRIGGER_LOW) {
return switch_reversed ? RC_Channel::AuxSwitchPos::HIGH : RC_Channel::AuxSwitchPos::LOW;
} else if (in > RC_Channel::AUX_PWM_TRIGGER_HIGH) {
return switch_reversed ? RC_Channel::AuxSwitchPos::LOW : RC_Channel::AuxSwitchPos::HIGH;
} else {
return RC_Channel::AuxSwitchPos::MIDDLE;
}
}
// map rc input to an event
AP_OSD_ParamScreen::Event AP_OSD_ParamScreen::map_rc_input_to_event() const
{
const RC_Channel::AuxSwitchPos throttle = get_channel_pos(rc().get_throttle_channel());
const RC_Channel::AuxSwitchPos yaw = get_channel_pos(rc().get_yaw_channel());
const RC_Channel::AuxSwitchPos roll = get_channel_pos(rc().get_roll_channel());
const RC_Channel::AuxSwitchPos pitch = get_channel_pos(rc().get_pitch_channel());
Event result = Event::NONE;
if (yaw != RC_Channel::AuxSwitchPos::MIDDLE || throttle != RC_Channel::AuxSwitchPos::LOW) {
return result;
}
if (pitch == RC_Channel::AuxSwitchPos::MIDDLE && roll == RC_Channel::AuxSwitchPos::LOW) {
result = Event::MENU_EXIT;
} else if (pitch == RC_Channel::AuxSwitchPos::MIDDLE && roll == RC_Channel::AuxSwitchPos::HIGH) {
result = Event::MENU_ENTER;
} else if (pitch == RC_Channel::AuxSwitchPos::LOW && roll == RC_Channel::AuxSwitchPos::MIDDLE) {
result = Event::MENU_UP;
} else if (pitch == RC_Channel::AuxSwitchPos::HIGH && roll == RC_Channel::AuxSwitchPos::MIDDLE) {
result = Event::MENU_DOWN;
} else {
// OSD option has not changed so assume stick re-centering
result = Event::NONE;
}
return result;
}
// update the state machine when disarmed
void AP_OSD_ParamScreen::update_state_machine()
{
const uint32_t now = AP_HAL::millis();
if ((now - _transition_start_ms) < _transition_timeout_ms) {
return;
}
const Event ev = map_rc_input_to_event();
// only take action on transitions
if (ev == Event::NONE && ev == _last_rc_event) {
return;
}
debug("update_state_machine(%s)\n", event_names[int(ev)]);
_transition_start_ms = now;
if (ev == _last_rc_event) {
_transition_timeout_ms = OSD_HOLD_BUTTON_PRESS_DELAY;
_transition_count++;
} else {
_transition_timeout_ms = osd->button_delay_ms;
_transition_count = 0;
}
_last_rc_event = ev;
// if we were armed then there is no selected parameter - so find one
if (_selected_param == 0) {
_selected_param = 1;
for (uint8_t i = 0; i < NUM_PARAMS && !params[_selected_param-1].enabled; i++) {
_selected_param++;
}
}
switch (ev) {
case Event::MENU_ENTER:
switch(_menu_state) {
case MenuState::PARAM_SELECT:
if (_selected_param == SAVE_PARAM) {
if (_transition_count >= OSD_HOLD_BUTTON_PRESS_COUNT) {
save_parameters();
hal.scheduler->reboot();
} else {
save_parameters();
}
} else {
_menu_state = MenuState::PARAM_VALUE_MODIFY;
}
break;
case MenuState::PARAM_VALUE_MODIFY:
if (_transition_count >= OSD_HOLD_BUTTON_PRESS_COUNT) {
_menu_state = MenuState::PARAM_PARAM_MODIFY;
}
break;
case MenuState::PARAM_PARAM_MODIFY:
break;
}
break;
case Event::MENU_UP:
switch (_menu_state) {
case MenuState::PARAM_SELECT:
_selected_param--;
if (_selected_param < 1) {
_selected_param = SAVE_PARAM;
}
// skip over parameters that are not enabled
for (uint8_t i = 0; i < NUM_PARAMS + 1 && (_selected_param != SAVE_PARAM && !params[_selected_param-1].enabled); i++) {
_selected_param--;
if (_selected_param < 1) {
_selected_param = SAVE_PARAM;
}
}
// repeat at the standard rate
_transition_timeout_ms = osd->button_delay_ms;
break;
case MenuState::PARAM_VALUE_MODIFY:
modify_parameter(_selected_param, ev);
break;
case MenuState::PARAM_PARAM_MODIFY:
modify_configured_parameter(_selected_param, ev);
break;
}
break;
case Event::MENU_DOWN:
switch (_menu_state) {
case MenuState::PARAM_SELECT:
_selected_param++;
if (_selected_param > SAVE_PARAM) {
_selected_param = 1;
}
// skip over parameters that are not enabled
for (uint8_t i = 0; i < NUM_PARAMS + 1 && (_selected_param != SAVE_PARAM && !params[_selected_param-1].enabled); i++) {
_selected_param++;
if (_selected_param > SAVE_PARAM) {
_selected_param = 1;
}
}
// repeat at the standard rate
_transition_timeout_ms = osd->button_delay_ms;
break;
case MenuState::PARAM_VALUE_MODIFY:
modify_parameter(_selected_param, ev);
break;
case MenuState::PARAM_PARAM_MODIFY:
modify_configured_parameter(_selected_param, ev);
break;
}
break;
case Event::MENU_EXIT:
switch(_menu_state) {
case MenuState::PARAM_SELECT:
break;
case MenuState::PARAM_VALUE_MODIFY:
_menu_state = MenuState::PARAM_SELECT;
break;
case MenuState::PARAM_PARAM_MODIFY:
_menu_state = MenuState::PARAM_VALUE_MODIFY;
break;
}
break;
case Event::NONE:
break;
}
}
#if HAL_WITH_OSD_BITMAP || HAL_WITH_MSP_DISPLAYPORT
void AP_OSD_ParamScreen::draw(void)
{
if (!enabled || !backend) {
return;
}
// first update the state machine
if (!AP::arming().is_armed()) {
update_state_machine();
} else {
_selected_param = 0;
}
for (uint8_t i = 0; i < NUM_PARAMS; i++) {
AP_OSD_ParamSetting n = params[i];
if (n.enabled) {
draw_parameter(n._param_number, n.xpos, n.ypos);
}
}
// the save button
draw_parameter(SAVE_PARAM, save_x, save_y);
}
#endif
#endif // OSD_ENABLED
// save all of the parameters
void AP_OSD_ParamScreen::save_parameters()
{
if (!_requires_save) {
return;
}
for (uint8_t i = 0; i < NUM_PARAMS; i++) {
if (params[i].enabled && (_requires_save & (1 << i))) {
AP_Param* p = params[i]._param;
if (p != nullptr) {
p->save();
}
params[i].save_as_new();
}
}
_requires_save = 0;
}
// handle OSD configuration messages
#if HAL_GCS_ENABLED
void AP_OSD_ParamScreen::handle_write_msg(const mavlink_osd_param_config_t& packet, const class GCS_MAVLINK& link)
{
// request out of range - return an error
if (packet.osd_index < 1 || packet.osd_index > AP_OSD_ParamScreen::NUM_PARAMS) {
mavlink_msg_osd_param_config_reply_send(link.get_chan(), packet.request_id, OSD_PARAM_INVALID_PARAMETER_INDEX);
return;
}
// set the parameter
bool ret = params[packet.osd_index - 1].set_by_name(packet.param_id, packet.config_type, packet.min_value, packet.max_value, packet.increment);
mavlink_msg_osd_param_config_reply_send(link.get_chan(), packet.request_id, ret ? OSD_PARAM_SUCCESS : OSD_PARAM_INVALID_PARAMETER);
}
// handle OSD show configuration messages
void AP_OSD_ParamScreen::handle_read_msg(const mavlink_osd_param_show_config_t& packet, const class GCS_MAVLINK& link)
{
// request out of range - return an error
if (packet.osd_index < 1 || packet.osd_index > AP_OSD_ParamScreen::NUM_PARAMS) {
mavlink_msg_osd_param_show_config_reply_send(link.get_chan(), packet.request_id, OSD_PARAM_INVALID_PARAMETER_INDEX,
nullptr, uint8_t(AP_OSD_ParamSetting::Type::NONE), 0, 0, 0);
return;
}
// get the parameter and make sure it is fresh
AP_OSD_ParamSetting& param = params[packet.osd_index - 1];
param.update();
// check for bad things
if (param._param == nullptr) {
mavlink_msg_osd_param_show_config_reply_send(link.get_chan(), packet.request_id, OSD_PARAM_INVALID_PARAMETER_INDEX,
nullptr, uint8_t(AP_OSD_ParamSetting::Type::NONE), 0, 0, 0);
return;
}
// get the name and send back the details
char buf[AP_MAX_NAME_SIZE+1];
param._param->copy_name_token(param._current_token, buf, AP_MAX_NAME_SIZE);
buf[AP_MAX_NAME_SIZE] = 0;
mavlink_msg_osd_param_show_config_reply_send(link.get_chan(), packet.request_id, OSD_PARAM_SUCCESS,
buf, param._type, param._param_min, param._param_max, param._param_incr);
}
#endif
#endif // OSD_PARAM_ENABLED
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