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Added rates setpoints as system outputs

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Lorenz Meier
2012-11-26 21:03:21 +01:00
parent dc72d467d4
commit 98657b8ae4
16 changed files with 663 additions and 98 deletions
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apps/mavlink/mavlink_parameters.c
-78
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@@ -72,20 +72,6 @@ static unsigned int mavlink_param_queue_index = 0;
*/
void mavlink_pm_callback(void *arg, param_t param);
/**
* Save parameters to EEPROM.
*
* Stores the parameters to /eeprom/parameters
*/
static int mavlink_pm_save_eeprom(void);
/**
* Load parameters from EEPROM.
*
* Loads the parameters from /eeprom/parameters
*/
static int mavlink_pm_load_eeprom(void);
void mavlink_pm_callback(void *arg, param_t param)
{
mavlink_pm_send_param(param);
@@ -232,69 +218,5 @@ void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_mess
}
} break;
// case MAVLINK_MSG_ID_COMMAND_LONG: {
// mavlink_command_long_t cmd_mavlink;
// mavlink_msg_command_long_decode(msg, &cmd_mavlink);
// uint8_t result = MAV_RESULT_UNSUPPORTED;
// if (cmd_mavlink.target_system == mavlink_system.sysid &&
// ((cmd_mavlink.target_component == mavlink_system.compid) ||(cmd_mavlink.target_component == MAV_COMP_ID_ALL))) {
// // XXX move this to LOW PRIO THREAD of commander app
// /* preflight parameter load / store */
// if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_STORAGE) {
// /* Read all parameters from EEPROM to RAM */
// if (((int)(cmd_mavlink.param1)) == 0) {
// /* read all parameters from EEPROM to RAM */
// int read_ret = param_load_default();
// if (read_ret == OK) {
// //printf("[mavlink pm] Loaded EEPROM params in RAM\n");
// mavlink_missionlib_send_gcs_string("[pm] OK loading %s", param_get_default_file());
// result = MAV_RESULT_ACCEPTED;
// } else if (read_ret == 1) {
// mavlink_missionlib_send_gcs_string("[pm] OK no changes %s", param_get_default_file());
// result = MAV_RESULT_ACCEPTED;
// } else {
// if (read_ret < -1) {
// mavlink_missionlib_send_gcs_string("[pm] ERR loading %s", param_get_default_file());
// } else {
// mavlink_missionlib_send_gcs_string("[pm] ERR no file %s", param_get_default_file());
// }
// result = MAV_RESULT_FAILED;
// }
// } else if (((int)(cmd_mavlink.param1)) == 1) {
// /* write all parameters from RAM to EEPROM */
// int write_ret = param_save_default();
// if (write_ret == OK) {
// mavlink_missionlib_send_gcs_string("[pm] OK saved %s", param_get_default_file());
// result = MAV_RESULT_ACCEPTED;
// } else {
// if (write_ret < -1) {
// mavlink_missionlib_send_gcs_string("[pm] ERR writing %s", param_get_default_file());
// } else {
// mavlink_missionlib_send_gcs_string("[pm] ERR writing %s", param_get_default_file());
// }
// result = MAV_RESULT_FAILED;
// }
// } else {
// //fprintf(stderr, "[mavlink pm] refusing unsupported storage request\n");
// mavlink_missionlib_send_gcs_string("[pm] refusing unsupp. STOR request");
// result = MAV_RESULT_UNSUPPORTED;
// }
// }
// }
// /* send back command result */
// //mavlink_msg_command_ack_send(chan, cmd.command, result);
// } break;
}
}