void GCS_MAVLINK::handle_param_set(mavlink_message_t *msg, DataFlash_Class *DataFlash)
{
mavlink_param_set_t packet;
mavlink_msg_param_set_decode(msg, &packet);
enum ap_var_type var_type;
// set parameter
AP_Param *vp;
char key[AP_MAX_NAME_SIZE+1];
strncpy(key, (char *)packet.param_id, AP_MAX_NAME_SIZE);
key[AP_MAX_NAME_SIZE] = 0;
// find existing param so we can get the old value
vp = AP_Param::find(key, &var_type);
if (vp == NULL) {
return;
}
float old_value = vp->cast_to_float(var_type);
// set the value
vp->set_float(packet.param_value, var_type);
/*
we force the save if the value is not equal to the old
value. This copes with the use of override values in
constructors, such as PID elements. Otherwise a set to the
default value which differs from the constructor value doesn't
save the change
*/
bool force_save = !is_equal(packet.param_value, old_value);
// save the change
vp->save(force_save);
// Report back the new value if we accepted the change
// we send the value we actually set, which could be
// different from the value sent, in case someone sent
// a fractional value to an integer type
mavlink_msg_param_value_send_buf(
msg,
chan,
key,
vp->cast_to_float(var_type),
mav_var_type(var_type),
_count_parameters(),
-1); // XXX we don't actually know what its index is...
if (DataFlash != NULL) {
DataFlash->Log_Write_Parameter(key, vp->cast_to_float(var_type));
}
}
void GCS_MAVLINK::handle_param_set(mavlink_message_t *msg, DataFlash_Class *DataFlash)
{
mavlink_param_set_t packet;
mavlink_msg_param_set_decode(msg, &packet);
enum ap_var_type var_type;
// set parameter
AP_Param *vp;
char key[AP_MAX_NAME_SIZE+1];
strncpy(key, (char *)packet.param_id, AP_MAX_NAME_SIZE);
key[AP_MAX_NAME_SIZE] = 0;
// find existing param so we can get the old value
vp = AP_Param::find(key, &var_type);
if (vp == NULL) {
return;
}
float old_value = vp->cast_to_float(var_type);
// set the value
vp->set_float(packet.param_value, var_type);
/*
we force the save if the value is not equal to the old
value. This copes with the use of override values in
constructors, such as PID elements. Otherwise a set to the
default value which differs from the constructor value doesn't
save the change
*/
bool force_save = !is_equal(packet.param_value, old_value);
// save the change
vp->save(force_save);
if (DataFlash != NULL) {
DataFlash->Log_Write_Parameter(key, vp->cast_to_float(var_type));
}
}
/*
load a default set of parameters from a file
*/
bool AP_Param::load_defaults_file(const char *filename)
{
FILE *f = fopen(filename, "r");
if (f == NULL) {
return false;
}
char line[100];
/*
work out how many parameter default structures to allocate
*/
uint16_t num_defaults = 0;
while (fgets(line, sizeof(line)-1, f)) {
char *pname;
float value;
if (!parse_param_line(line, &pname, value)) {
continue;
}
if (!find_def_value_ptr(pname)) {
fclose(f);
return false;
}
num_defaults++;
}
fclose(f);
if (param_overrides != NULL) {
free(param_overrides);
}
num_param_overrides = 0;
param_overrides = new param_override[num_defaults];
if (param_overrides == NULL) {
return false;
}
/*
re-open to avoid possible seek issues with NuttX
*/
f = fopen(filename, "r");
if (f == NULL) {
return false;
}
uint16_t idx = 0;
while (fgets(line, sizeof(line)-1, f)) {
char *pname;
float value;
if (!parse_param_line(line, &pname, value)) {
continue;
}
const float *def_value_ptr = find_def_value_ptr(pname);
if (!def_value_ptr) {
fclose(f);
return false;
}
param_overrides[idx].def_value_ptr = def_value_ptr;
param_overrides[idx].value = value;
idx++;
enum ap_var_type var_type;
AP_Param *vp = AP_Param::find(pname, &var_type);
if (!vp) {
fclose(f);
return false;
}
vp->set_float(value, var_type);
}
fclose(f);
num_param_overrides = num_defaults;
return true;
}