[RFC] broadcast parameter changes and ModuleParams skip full updateParams() when possible

msg/CMakeLists.txt

@@ -134,6 +134,7 @@ set(msg_files
 	OrbTest.msg
 	OrbTestLarge.msg
 	OrbTestMedium.msg
+	Parameter.msg
 	ParameterUpdate.msg
 	Ping.msg
 	PositionControllerLandingStatus.msg

msg/Parameter.msg

@@ -0,0 +1,12 @@
+char[17] name                   # parameter name
+int16 index		# -1 if the param_id field should be used as identifier
+int16 index_used		# -1 if the param_id field should be used as identifier
+
+uint8 TYPE_INVALID = 0
+uint8 TYPE_BOOL    = 1
+uint8 TYPE_INT32   = 2
+uint8 TYPE_FLOAT32 = 3
+uint8 type                # parameter type
+
+int32 int32_value               # current value if param_type is int-like
+float32 float32_value           # current value if param_type is float-like

msg/ParameterUpdate.msg

@@ -4,11 +4,8 @@ uint64 timestamp		# time since system start (microseconds)
 
 uint32 instance		# Instance count - constantly incrementing
 
-uint32 get_count
-uint32 set_count
-uint32 find_count
-uint32 export_count
+uint16 count
 
-uint16 active
-uint16 changed
-uint16 custom_default
+Parameter changed_param
+
+uint8 ORB_QUEUE_LENGTH = 8