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mavlink: add MAV_SIK_RADIO_ID param back in

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However, this is now without the functionality to reset to factory
default.

Signed-off-by: Julian Oes <julian@oes.ch>
This commit is contained in:
Julian Oes 2023-02-09 21:05:44 +13:00
parent 7044301148
commit 5f5cb3fac6
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GPG Key ID: F0ED380FEA56DE41
3 changed files with 22 additions and 0 deletions
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9
src/modules/mavlink/mavlink_main.cpp
View File

@ -2299,6 +2299,15 @@ Mavlink::task_main(int argc, char *argv[])
mavlink_update_parameters();
}
if (_param_sik_radio_id.get() != 0) {
const uint8_t ret = configure_sik_radio((uint16_t)_param_sik_radio_id.get());
if (ret == vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED) {
_param_sik_radio_id.set(0);
_param_sik_radio_id.commit_no_notification();
}
}
if (_vehicle_status_sub.updated()) {
vehicle_status_s vehicle_status;

1
src/modules/mavlink/mavlink_main.h
View File

@ -668,6 +668,7 @@ private:
(ParamInt<px4::params::MAV_SYS_ID>) _param_mav_sys_id,
(ParamInt<px4::params::MAV_COMP_ID>) _param_mav_comp_id,
(ParamInt<px4::params::MAV_PROTO_VER>) _param_mav_proto_ver,
(ParamInt<px4::params::MAV_SIK_RADIO_ID>) _param_sik_radio_id,
(ParamInt<px4::params::MAV_TYPE>) _param_mav_type,
(ParamBool<px4::params::MAV_USEHILGPS>) _param_mav_usehilgps,
(ParamBool<px4::params::MAV_FWDEXTSP>) _param_mav_fwdextsp,

12
src/modules/mavlink/mavlink_params.c
View File

@ -58,6 +58,18 @@ PARAM_DEFINE_INT32(MAV_COMP_ID, 1);
*/
PARAM_DEFINE_INT32(MAV_PROTO_VER, 0);
/**
* MAVLink SiK Radio ID
*
* When non-zero the MAVLink app will attempt to configure the
* SiK radio to this ID and re-set the parameter to 0. Only applies if this mavlink instance is going through a SiK radio
*
* @group MAVLink
* @min 0
* @max 240
*/
PARAM_DEFINE_INT32(MAV_SIK_RADIO_ID, 0);
/**
* MAVLink airframe type
*