From 5f5cb3fac63fd0c3536ff60156a5b20fa7925c55 Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Thu, 9 Feb 2023 21:05:44 +1300
Subject: [PATCH] mavlink: add MAV_SIK_RADIO_ID param back in

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

Signed-off-by: Julian Oes <julian@oes.ch>
---
 src/modules/mavlink/mavlink_main.cpp |  9 +++++++++
 src/modules/mavlink/mavlink_main.h   |  1 +
 src/modules/mavlink/mavlink_params.c | 12 ++++++++++++
 3 files changed, 22 insertions(+)

diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index e89f857a8b..70a3666f57 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -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;
 
diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h
index 510f9590ea..608273b406 100644
--- a/src/modules/mavlink/mavlink_main.h
+++ b/src/modules/mavlink/mavlink_main.h
@@ -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,
diff --git a/src/modules/mavlink/mavlink_params.c b/src/modules/mavlink/mavlink_params.c
index 37be2af012..474ed23acc 100644
--- a/src/modules/mavlink/mavlink_params.c
+++ b/src/modules/mavlink/mavlink_params.c
@@ -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
  *