From 0d1d92484bb6d102d365267f4ca7052563194146 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Wed, 6 May 2015 19:39:17 +0200
Subject: [PATCH] MAVLink app: Parameter docs and new test parameter

---
 src/modules/mavlink/mavlink.c        | 20 ++++++++++++++++++++
 src/modules/mavlink/mavlink_main.cpp |  3 +++
 2 files changed, 23 insertions(+)

diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c
index 796d5cbf28..30c2d2b956 100644
--- a/src/modules/mavlink/mavlink.c
+++ b/src/modules/mavlink/mavlink.c
@@ -50,18 +50,25 @@
 /**
  * MAVLink system ID
  * @group MAVLink
+ * @min 1
+ * @max 250
  */
 PARAM_DEFINE_INT32(MAV_SYS_ID, 1);
+
 /**
  * MAVLink component ID
  * @group MAVLink
+ * @min 1
+ * @max 50
  */
 PARAM_DEFINE_INT32(MAV_COMP_ID, 50);
+
 /**
  * MAVLink type
  * @group MAVLink
  */
 PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_FIXED_WING);
+
 /**
  * Use/Accept HIL GPS message (even if not in HIL mode)
  *
@@ -70,6 +77,7 @@ PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_FIXED_WING);
  * @group MAVLink
  */
 PARAM_DEFINE_INT32(MAV_USEHILGPS, 0);
+
 /**
  * Forward external setpoint messages
  *
@@ -80,6 +88,18 @@ PARAM_DEFINE_INT32(MAV_USEHILGPS, 0);
  */
 PARAM_DEFINE_INT32(MAV_FWDEXTSP, 1);
 
+/**
+ * Test parameter
+ *
+ * This parameter is not actively used by the system. Its purpose is to allow
+ * testing the parameter interface on the communication level.
+ *
+ * @group MAVLink
+ * @min -1000
+ * @max 1000
+ */
+PARAM_DEFINE_INT32(MAV_TEST_PAR, 1);
+
 mavlink_system_t mavlink_system = {
 	100,
 	50
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index a8f07f3e21..326b0b5ab4 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -487,6 +487,9 @@ void Mavlink::mavlink_update_system(void)
 		_param_system_type = param_find("MAV_TYPE");
 		_param_use_hil_gps = param_find("MAV_USEHILGPS");
 		_param_forward_externalsp = param_find("MAV_FWDEXTSP");
+
+		/* test param - needs to be referenced, but is unused */
+		(void)param_find("MAV_TEST_PAR");
 	}
 
 	/* update system and component id */