/* send one parameter, assume lock on global_data_parameter_storage */
void mavlink_pm_send_one_parameter(uint16_t next_param)
{
if (next_param < global_data_parameter_storage->pm.size) {
static char name_buf[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN];
mavlink_message_t tx_msg;
strncpy((char *)name_buf, global_data_parameter_storage->pm.param_names[next_param], MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
mavlink_msg_param_value_pack_chan(mavlink_system.sysid,
mavlink_system.compid,
MAVLINK_COMM_0,
&tx_msg,
name_buf,
global_data_parameter_storage->pm.param_values[next_param],
MAVLINK_TYPE_FLOAT,
global_data_parameter_storage->pm.size,
next_param);
mavlink_missionlib_send_message(&tx_msg);
// mavlink_msg_param_value_send(MAVLINK_COMM_0,
// name_buf,
// global_data_parameter_storage->pm.param_values[next_param],
// MAVLINK_TYPE_FLOAT,
// global_data_parameter_storage->pm.size,
// next_param);
}
}
/**
* @brief Send low-priority messages at a maximum rate of xx Hertz
*
* This function sends messages at a lower rate to not exceed the wireless
* bandwidth. It sends one message each time it is called until the buffer is empty.
* Call this function with xx Hertz to increase/decrease the bandwidth.
*/
void mavlink_pm_queued_send(void)
{
//send parameters one by one
if (pm.next_param < pm.size)
{
//for (int i.. all active comm links)
#ifndef MAVLINK_USE_CONVENIENCE_FUNCTIONS
mavlink_message_t tx_msg;
mavlink_msg_param_value_pack_chan(mavlink_system.sysid,
mavlink_system.compid,
MAVLINK_COMM_0,
&tx_msg,
pm.param_names[pm.next_param],
pm.param_values[pm.next_param],
MAVLINK_TYPE_FLOAT,
pm.size,
pm.next_param);
mavlink_missionlib_send_message(&tx_msg);
#else
mavlink_msg_param_value_send(MAVLINK_COMM_0,
pm.param_names[pm.next_param],
pm.param_values[pm.next_param],
MAV_DATA_TYPE_FLOAT,
pm.size,
pm.next_param);
#endif
pm.next_param++;
}
}
int Mavlink::mavlink_pm_send_param(param_t param)
{
if (param == PARAM_INVALID) { return 1; }
/* buffers for param transmission */
char name_buf[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN];
float val_buf;
mavlink_message_t tx_msg;
/* query parameter type */
param_type_t type = param_type(param);
/* copy parameter name */
strncpy((char *)name_buf, param_name(param), MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
/*
* Map onboard parameter type to MAVLink type,
* endianess matches (both little endian)
*/
uint8_t mavlink_type;
if (type == PARAM_TYPE_INT32) {
mavlink_type = MAVLINK_TYPE_INT32_T;
} else if (type == PARAM_TYPE_FLOAT) {
mavlink_type = MAVLINK_TYPE_FLOAT;
} else {
mavlink_type = MAVLINK_TYPE_FLOAT;
}
/*
* get param value, since MAVLink encodes float and int params in the same
* space during transmission, copy param onto float val_buf
*/
int ret;
if ((ret = param_get(param, &val_buf)) != OK) {
return ret;
}
mavlink_msg_param_value_pack_chan(mavlink_system.sysid,
mavlink_system.compid,
_channel,
&tx_msg,
name_buf,
val_buf,
mavlink_type,
param_count(),
param_get_index(param));
send_message(&tx_msg);
return OK;
}
void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t* msg)
{
switch (msg->msgid)
{
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
{
// Start sending parameters
pm.next_param = 0;
mavlink_missionlib_send_gcs_string("PM SENDING LIST");
}
break;
case MAVLINK_MSG_ID_PARAM_SET:
{
mavlink_param_set_t set;
mavlink_msg_param_set_decode(msg, &set);
// Check if this message is for this system
if (set.target_system == mavlink_system.sysid && set.target_component == mavlink_system.compid)
{
char* key = set.param_id;
for (uint16_t i = 0; i < MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN; i++)
{
bool match = true;
for (uint16_t j = 0; j < MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN; j++)
{
// Compare
if (pm.param_names[i][j] != key[j])
{
match = false;
}
// End matching if null termination is reached
if (pm.param_names[i][j] == '\0')
{
break;
}
}
// Check if matched
if (match)
{
// Only write and emit changes if there is actually a difference
// AND only write if new value is NOT "not-a-number"
// AND is NOT infinity
if (pm.param_values[i] != set.param_value
&& !isnan(set.param_value)
&& !isinf(set.param_value))
{
pm.param_values[i] = set.param_value;
// Report back new value
#ifndef MAVLINK_USE_CONVENIENCE_FUNCTIONS
mavlink_message_t tx_msg;
mavlink_msg_param_value_pack_chan(mavlink_system.sysid,
mavlink_system.compid,
MAVLINK_COMM_0,
&tx_msg,
pm.param_names[i],
pm.param_values[i],
MAVLINK_TYPE_FLOAT,
pm.size,
i);
mavlink_missionlib_send_message(&tx_msg);
#else
mavlink_msg_param_value_send(MAVLINK_COMM_0,
pm.param_names[i],
pm.param_values[i],
MAVLINK_TYPE_FLOAT,
pm.size,
i);
#endif
mavlink_missionlib_send_gcs_string("PM received param");
} // End valid value check
} // End match check
} // End for loop
} // End system ID check
} // End case
break;
} // End switch
}
