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MAVLink: Update to version 2 compaat API

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This commit is contained in:
Lorenz Meier
2016-05-19 20:13:32 +02:00
parent c6aa1b1efb
commit 0a597d0d62
9 changed files with 144 additions and 133 deletions
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src/modules/mavlink/mavlink_parameters.cpp
+4 -4
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@@ -186,7 +186,7 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
strncpy(param_value.param_id, HASH_PARAM, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
param_value.param_type = MAV_PARAM_TYPE_UINT32;
memcpy(&param_value.param_value, &hash, sizeof(hash));
_mavlink->send_message(MAVLINK_MSG_ID_PARAM_VALUE, &param_value);
mavlink_msg_param_value_send_struct(_mavlink->get_channel(), &param_value);
} else {
/* local name buffer to enforce null-terminated string */
char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1];
@@ -302,7 +302,7 @@ MavlinkParametersManager::send(const hrt_abstime t)
memcpy(&msg.param_value, &val, sizeof(int32_t));
msg.param_type = MAVLINK_TYPE_INT32_T;
}
_mavlink->send_message(MAVLINK_MSG_ID_PARAM_VALUE, &msg, value.node_id);
mavlink_msg_param_value_send_struct(_mavlink->get_channel(), &msg);
} else if (_send_all_index >= 0 && _mavlink->boot_complete()) {
/* send all parameters if requested, but only after the system has booted */
@@ -325,7 +325,7 @@ MavlinkParametersManager::send(const hrt_abstime t)
strncpy(msg.param_id, HASH_PARAM, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
msg.param_type = MAV_PARAM_TYPE_UINT32;
memcpy(&msg.param_value, &hash, sizeof(hash));
_mavlink->send_message(MAVLINK_MSG_ID_PARAM_VALUE, &msg);
mavlink_msg_param_value_send_struct(_mavlink->get_channel(), &msg);
/* after this we should start sending all params */
_send_all_index = 0;
@@ -396,7 +396,7 @@ MavlinkParametersManager::send_param(param_t param)
msg.param_type = MAVLINK_TYPE_FLOAT;
}
_mavlink->send_message(MAVLINK_MSG_ID_PARAM_VALUE, &msg);
mavlink_msg_param_value_send_struct(_mavlink->get_channel(), &msg);
return 0;
}