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mavlink_receiver: updated sens flow parameters to be dynamically handle

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This commit is contained in:
Igor Mišić
2021-09-23 09:23:22 +02:00
committed by Beat Küng
parent e73172b537
commit 9ad0e5b357
2 changed files with 46 additions and 9 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+31 -4
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@@ -88,6 +88,10 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_parameters_manager(parent),
_mavlink_timesync(parent)
{
_handle_sens_flow_maxhgt = param_find("SENS_FLOW_MAXHGT");
_handle_sens_flow_maxr = param_find("SENS_FLOW_MAXR");
_handle_sens_flow_minhgt = param_find("SENS_FLOW_MINHGT");
_handle_sens_flow_rot = param_find("SENS_FLOW_ROT");
}
void
@@ -693,12 +697,12 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
f.ground_distance_m = flow.distance;
f.quality = flow.quality;
f.sensor_id = flow.sensor_id;
f.max_flow_rate = _param_sens_flow_maxr.get();
f.min_ground_distance = _param_sens_flow_minhgt.get();
f.max_ground_distance = _param_sens_flow_maxhgt.get();
f.max_flow_rate = _param_sens_flow_maxr;
f.min_ground_distance = _param_sens_flow_minhgt;
f.max_ground_distance = _param_sens_flow_maxhgt;
/* read flow sensor parameters */
const Rotation flow_rot = (Rotation)_param_sens_flow_rot.get();
const Rotation flow_rot = (Rotation)_param_sens_flow_rot;
/* rotate measurements according to parameter */
float zero_val = 0.0f;
@@ -3339,6 +3343,29 @@ void MavlinkReceiver::start()
pthread_attr_destroy(&receiveloop_attr);
}
void
MavlinkReceiver::updateParams()
{
// update parameters from storage
ModuleParams::updateParams();
if (_handle_sens_flow_maxhgt != PARAM_INVALID) {
param_get(_handle_sens_flow_maxhgt, &_param_sens_flow_maxhgt);
}
if (_handle_sens_flow_maxr != PARAM_INVALID) {
param_get(_handle_sens_flow_maxr, &_param_sens_flow_maxr);
}
if (_handle_sens_flow_minhgt != PARAM_INVALID) {
param_get(_handle_sens_flow_minhgt, &_param_sens_flow_minhgt);
}
if (_handle_sens_flow_rot != PARAM_INVALID) {
param_get(_handle_sens_flow_rot, &_param_sens_flow_rot);
}
}
void *MavlinkReceiver::start_trampoline(void *context)
{
MavlinkReceiver *self = reinterpret_cast<MavlinkReceiver *>(context);