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Added support in Mavlink Ethernet channel parameters

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Mavlink Ethernet channel settings such as udp port, remote port and broadcast mode now can be changed dynamically via parameters.
This commit is contained in:
garfieldG
2021-02-25 08:52:38 -08:00
committed by David Sidrane
parent b66a9629e0
commit 3cd9b3c2cf
36 changed files with 242 additions and 85 deletions
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src/modules/mavlink/mavlink_main.h
+5 -4
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@@ -265,7 +265,9 @@ public:
#if defined(MAVLINK_UDP)
static Mavlink *get_instance_for_network_port(unsigned long port);
bool broadcast_enabled() { return _param_mav_broadcast.get() == BROADCAST_MODE_ON; }
bool broadcast_enabled() { return _mav_broadcast == BROADCAST_MODE_ON; }
bool multicast_enabled() { return _mav_broadcast == BROADCAST_MODE_MULTICAST; }
#endif // MAVLINK_UDP
/**
@@ -610,6 +612,8 @@ private:
hrt_abstime _bytes_timestamp{0};
#if defined(MAVLINK_UDP)
BROADCAST_MODE _mav_broadcast {BROADCAST_MODE_OFF};
sockaddr_in _myaddr {};
sockaddr_in _src_addr {};
sockaddr_in _bcast_addr {};
@@ -659,9 +663,6 @@ private:
(ParamInt<px4::params::MAV_TYPE>) _param_mav_type,
(ParamBool<px4::params::MAV_USEHILGPS>) _param_mav_usehilgps,
(ParamBool<px4::params::MAV_FWDEXTSP>) _param_mav_fwdextsp,
#if defined(MAVLINK_UDP)
(ParamInt<px4::params::MAV_BROADCAST>) _param_mav_broadcast,
#endif // MAVLINK_UDP
(ParamBool<px4::params::MAV_HASH_CHK_EN>) _param_mav_hash_chk_en,
(ParamBool<px4::params::MAV_HB_FORW_EN>) _param_mav_hb_forw_en,
(ParamBool<px4::params::MAV_ODOM_LP>) _param_mav_odom_lp,