1 files changed, 231 insertions, 0 deletions
diff --git a/src/modules/mavlink/mavlink_parameters.c b/src/modules/mavlink/mavlink_parameters.c
new file mode 100644
index 000000000..819f3441b
--- /dev/null
+++ b/src/modules/mavlink/mavlink_parameters.c
@@ -0,0 +1,231 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mavlink_parameters.c
+ * MAVLink parameter protocol implementation (BSD-relicensed).
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ */
+
+#include "mavlink_bridge_header.h"
+#include <v1.0/common/mavlink.h>
+#include "mavlink_parameters.h"
+#include <uORB/uORB.h>
+#include "math.h" /* isinf / isnan checks */
+#include <assert.h>
+#include <stdio.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <stdbool.h>
+#include <string.h>
+#include <errno.h>
+#include <systemlib/param/param.h>
+#include <systemlib/err.h>
+#include <sys/stat.h>
+
+extern mavlink_system_t mavlink_system;
+
+extern int mavlink_missionlib_send_message(mavlink_message_t *msg);
+extern int mavlink_missionlib_send_gcs_string(const char *string);
+
+/**
+ * If the queue index is not at 0, the queue sending
+ * logic will send parameters from the current index
+ * to len - 1, the end of the param list.
+ */
+static unsigned int mavlink_param_queue_index = 0;
+
+/**
+ * Callback for param interface.
+ */
+void mavlink_pm_callback(void *arg, param_t param);
+
+void mavlink_pm_callback(void *arg, param_t param)
+{
+	mavlink_pm_send_param(param);
+	usleep(*(unsigned int *)arg);
+}
+
+void mavlink_pm_send_all_params(unsigned int delay)
+{
+	unsigned int dbuf = delay;
+	param_foreach(&mavlink_pm_callback, &dbuf, false);
+}
+
+int mavlink_pm_queued_send()
+{
+	if (mavlink_param_queue_index < param_count()) {
+		mavlink_pm_send_param(param_for_index(mavlink_param_queue_index));
+		mavlink_param_queue_index++;
+		return 0;
+
+	} else {
+		return 1;
+	}
+}
+
+void mavlink_pm_start_queued_send()
+{
+	mavlink_param_queue_index = 0;
+}
+
+int mavlink_pm_send_param_for_index(uint16_t index)
+{
+	return mavlink_pm_send_param(param_for_index(index));
+}
+
+int mavlink_pm_send_param_for_name(const char *name)
+{
+	return mavlink_pm_send_param(param_find(name));
+}
+
+int mavlink_pm_send_param(param_t param)
+{
+	if (param == PARAM_INVALID) return 1;
+
+	/* buffers for param transmission */
+	static char name_buf[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN];
+	float val_buf;
+	static 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,
+					  MAVLINK_COMM_0,
+					  &tx_msg,
+					  name_buf,
+					  val_buf,
+					  mavlink_type,
+					  param_count(),
+					  param_get_index(param));
+	ret = mavlink_missionlib_send_message(&tx_msg);
+	return ret;
+}
+
+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 */
+			mavlink_pm_start_queued_send();
+			mavlink_missionlib_send_gcs_string("[mavlink pm] sending list");
+		} break;
+
+	case MAVLINK_MSG_ID_PARAM_SET: {
+
+			/* Handle parameter setting */
+
+			if (msg->msgid == MAVLINK_MSG_ID_PARAM_SET) {
+				mavlink_param_set_t mavlink_param_set;
+				mavlink_msg_param_set_decode(msg, &mavlink_param_set);
+
+				if (mavlink_param_set.target_system == mavlink_system.sysid && ((mavlink_param_set.target_component == mavlink_system.compid) || (mavlink_param_set.target_component == MAV_COMP_ID_ALL))) {
+					/* local name buffer to enforce null-terminated string */
+					char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1];
+					strncpy(name, mavlink_param_set.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
+					/* enforce null termination */
+					name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0';
+					/* attempt to find parameter, set and send it */
+					param_t param = param_find(name);
+
+					if (param == PARAM_INVALID) {
+						char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN];
+						sprintf(buf, "[mavlink pm] unknown: %s", name);
+						mavlink_missionlib_send_gcs_string(buf);
+
+					} else {
+						/* set and send parameter */
+						param_set(param, &(mavlink_param_set.param_value));
+						mavlink_pm_send_param(param);
+					}
+				}
+			}
+		} break;
+
+	case MAVLINK_MSG_ID_PARAM_REQUEST_READ: {
+			mavlink_param_request_read_t mavlink_param_request_read;
+			mavlink_msg_param_request_read_decode(msg, &mavlink_param_request_read);
+
+			if (mavlink_param_request_read.target_system == mavlink_system.sysid && ((mavlink_param_request_read.target_component == mavlink_system.compid) || (mavlink_param_request_read.target_component == MAV_COMP_ID_ALL))) {
+				/* when no index is given, loop through string ids and compare them */
+				if (mavlink_param_request_read.param_index == -1) {
+					/* local name buffer to enforce null-terminated string */
+					char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1];
+					strncpy(name, mavlink_param_request_read.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
+					/* enforce null termination */
+					name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0';
+					/* attempt to find parameter and send it */
+					mavlink_pm_send_param_for_name(name);
+
+				} else {
+					/* when index is >= 0, send this parameter again */
+					mavlink_pm_send_param_for_index(mavlink_param_request_read.param_index);
+				}
+			}
+
+		} break;
+	}
+}