diff options
Diffstat (limited to 'apps/mavlink/mavlink_parameters.c')
| -rw-r--r-- | apps/mavlink/mavlink_parameters.c | 124 |
1 files changed, 63 insertions, 61 deletions
diff --git a/apps/mavlink/mavlink_parameters.c b/apps/mavlink/mavlink_parameters.c index 6d434ed3d..7cb1582b4 100644 --- a/apps/mavlink/mavlink_parameters.c +++ b/apps/mavlink/mavlink_parameters.c @@ -233,66 +233,68 @@ void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_mess } break; - case MAVLINK_MSG_ID_COMMAND_LONG: { - mavlink_command_long_t cmd_mavlink; - mavlink_msg_command_long_decode(msg, &cmd_mavlink); - - uint8_t result = MAV_RESULT_UNSUPPORTED; - - if (cmd_mavlink.target_system == mavlink_system.sysid && - ((cmd_mavlink.target_component == mavlink_system.compid) ||(cmd_mavlink.target_component == MAV_COMP_ID_ALL))) { - - /* preflight parameter load / store */ - if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_STORAGE) { - /* Read all parameters from EEPROM to RAM */ - - if (((int)(cmd_mavlink.param1)) == 0) { - - /* read all parameters from EEPROM to RAM */ - int read_ret = param_load_default(); - if (read_ret == OK) { - //printf("[mavlink pm] Loaded EEPROM params in RAM\n"); - mavlink_missionlib_send_gcs_string("[mavlink pm] OK loaded EEPROM params"); - result = MAV_RESULT_ACCEPTED; - } else if (read_ret == 1) { - mavlink_missionlib_send_gcs_string("[mavlink pm] No stored parameters to load"); - result = MAV_RESULT_ACCEPTED; - } else { - if (read_ret < -1) { - mavlink_missionlib_send_gcs_string("[mavlink pm] ERR loading params from EEPROM"); - } else { - mavlink_missionlib_send_gcs_string("[mavlink pm] ERR loading params, no EEPROM found"); - } - result = MAV_RESULT_FAILED; - } - - } else if (((int)(cmd_mavlink.param1)) == 1) { - - /* write all parameters from RAM to EEPROM */ - int write_ret = param_save_default(); - if (write_ret == OK) { - mavlink_missionlib_send_gcs_string("[mavlink pm] OK params written to EEPROM"); - result = MAV_RESULT_ACCEPTED; - - } else { - if (write_ret < -1) { - mavlink_missionlib_send_gcs_string("[mavlink pm] ERR writing params to EEPROM"); - } else { - mavlink_missionlib_send_gcs_string("[mavlink pm] ERR writing params, no EEPROM found"); - } - result = MAV_RESULT_FAILED; - } - - } else { - //fprintf(stderr, "[mavlink pm] refusing unsupported storage request\n"); - mavlink_missionlib_send_gcs_string("[mavlink pm] refusing unsupported STOR request"); - result = MAV_RESULT_UNSUPPORTED; - } - } - } - - /* send back command result */ - //mavlink_msg_command_ack_send(chan, cmd.command, result); - } break; + // case MAVLINK_MSG_ID_COMMAND_LONG: { + // mavlink_command_long_t cmd_mavlink; + // mavlink_msg_command_long_decode(msg, &cmd_mavlink); + + // uint8_t result = MAV_RESULT_UNSUPPORTED; + + // if (cmd_mavlink.target_system == mavlink_system.sysid && + // ((cmd_mavlink.target_component == mavlink_system.compid) ||(cmd_mavlink.target_component == MAV_COMP_ID_ALL))) { + + // // XXX move this to LOW PRIO THREAD of commander app + + // /* preflight parameter load / store */ + // if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_STORAGE) { + // /* Read all parameters from EEPROM to RAM */ + + // if (((int)(cmd_mavlink.param1)) == 0) { + + // /* read all parameters from EEPROM to RAM */ + // int read_ret = param_load_default(); + // if (read_ret == OK) { + // //printf("[mavlink pm] Loaded EEPROM params in RAM\n"); + // mavlink_missionlib_send_gcs_string("[pm] OK loading %s", param_get_default_file()); + // result = MAV_RESULT_ACCEPTED; + // } else if (read_ret == 1) { + // mavlink_missionlib_send_gcs_string("[pm] OK no changes %s", param_get_default_file()); + // result = MAV_RESULT_ACCEPTED; + // } else { + // if (read_ret < -1) { + // mavlink_missionlib_send_gcs_string("[pm] ERR loading %s", param_get_default_file()); + // } else { + // mavlink_missionlib_send_gcs_string("[pm] ERR no file %s", param_get_default_file()); + // } + // result = MAV_RESULT_FAILED; + // } + + // } else if (((int)(cmd_mavlink.param1)) == 1) { + + // /* write all parameters from RAM to EEPROM */ + // int write_ret = param_save_default(); + // if (write_ret == OK) { + // mavlink_missionlib_send_gcs_string("[pm] OK saved %s", param_get_default_file()); + // result = MAV_RESULT_ACCEPTED; + + // } else { + // if (write_ret < -1) { + // mavlink_missionlib_send_gcs_string("[pm] ERR writing %s", param_get_default_file()); + // } else { + // mavlink_missionlib_send_gcs_string("[pm] ERR writing %s", param_get_default_file()); + // } + // result = MAV_RESULT_FAILED; + // } + + // } else { + // //fprintf(stderr, "[mavlink pm] refusing unsupported storage request\n"); + // mavlink_missionlib_send_gcs_string("[pm] refusing unsupp. STOR request"); + // result = MAV_RESULT_UNSUPPORTED; + // } + // } + // } + + // /* send back command result */ + // //mavlink_msg_command_ack_send(chan, cmd.command, result); + // } break; } } |