diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_parameters.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_parameters.cpp | 41 |
1 files changed, 40 insertions, 1 deletions
diff --git a/src/modules/mavlink/mavlink_parameters.cpp b/src/modules/mavlink/mavlink_parameters.cpp index cd5f53d88..e9858b73c 100644 --- a/src/modules/mavlink/mavlink_parameters.cpp +++ b/src/modules/mavlink/mavlink_parameters.cpp @@ -44,7 +44,9 @@ #include "mavlink_main.h" MavlinkParametersManager::MavlinkParametersManager(Mavlink *mavlink) : MavlinkStream(mavlink), - _send_all_index(-1) + _send_all_index(-1), + _rc_param_map_pub(-1), + _rc_param_map() { } @@ -135,6 +137,43 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg) break; } + case MAVLINK_MSG_ID_PARAM_MAP_RC: { + /* map a rc channel to a parameter */ + mavlink_param_map_rc_t map_rc; + mavlink_msg_param_map_rc_decode(msg, &map_rc); + + if (map_rc.target_system == mavlink_system.sysid && + (map_rc.target_component == mavlink_system.compid || + map_rc.target_component == MAV_COMP_ID_ALL)) { + + /* Copy values from msg to uorb using the parameter_rc_channel_index as index */ + size_t i = map_rc.parameter_rc_channel_index; + _rc_param_map.param_index[i] = map_rc.param_index; + strncpy(&(_rc_param_map.param_id[i][0]), map_rc.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN); + /* enforce null termination */ + _rc_param_map.param_id[i][MAVLINK_MSG_PARAM_MAP_RC_FIELD_PARAM_ID_LEN] = '\0'; + _rc_param_map.scale[i] = map_rc.scale; + _rc_param_map.value0[i] = map_rc.param_value0; + _rc_param_map.value_min[i] = map_rc.param_value_min; + _rc_param_map.value_max[i] = map_rc.param_value_max; + if (map_rc.param_index == -2) { // -2 means unset map + _rc_param_map.valid[i] = false; + } else { + _rc_param_map.valid[i] = true; + } + _rc_param_map.timestamp = hrt_absolute_time(); + + if (_rc_param_map_pub < 0) { + _rc_param_map_pub = orb_advertise(ORB_ID(rc_parameter_map), &_rc_param_map); + + } else { + orb_publish(ORB_ID(rc_parameter_map), _rc_param_map_pub, &_rc_param_map); + } + + } + break; + } + default: break; } |