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

@@ -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;
 

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,

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
  *