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mavlink: switch to events

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This commit is contained in:
Beat Küng
2021-09-09 22:04:48 +02:00
committed by Daniel Agar
parent 90940c3672
commit b31276a4f5
4 changed files with 118 additions and 49 deletions
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src/modules/mavlink/mavlink_parameters.cpp
+7 -13
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@@ -120,15 +120,11 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
param_t param = param_find_no_notification(name);
if (param == PARAM_INVALID) {
char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN];
sprintf(buf, "[pm] unknown param: %s", name);
_mavlink->send_statustext_info(buf);
PX4_ERR("unknown param: %s", name);
} else if (!((param_type(param) == PARAM_TYPE_INT32 && set.param_type == MAV_PARAM_TYPE_INT32) ||
(param_type(param) == PARAM_TYPE_FLOAT && set.param_type == MAV_PARAM_TYPE_REAL32))) {
char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN];
sprintf(buf, "[pm] param types mismatch param: %s", name);
_mavlink->send_statustext_info(buf);
PX4_ERR("param types mismatch param: %s", name);
} else {
// According to the mavlink spec we should always acknowledge a write operation.
@@ -204,14 +200,10 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
int ret = send_param(param_for_used_index(req_read.param_index));
if (ret == 1) {
char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN];
sprintf(buf, "[pm] unknown param ID: %u", req_read.param_index);
_mavlink->send_statustext_info(buf);
PX4_ERR("unknown param ID: %i", req_read.param_index);
} else if (ret == 2) {
char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN];
sprintf(buf, "[pm] failed loading param from storage ID: %u", req_read.param_index);
_mavlink->send_statustext_info(buf);
PX4_ERR("failed loading param from storage ID: %i", req_read.param_index);
}
}
}
@@ -248,7 +240,9 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
size_t i = map_rc.parameter_rc_channel_index;
if (i >= sizeof(_rc_param_map.param_index) / sizeof(_rc_param_map.param_index[0])) {
mavlink_log_warning(_mavlink->get_mavlink_log_pub(), "parameter_rc_channel_index out of bounds");
mavlink_log_warning(_mavlink->get_mavlink_log_pub(), "parameter_rc_channel_index out of bounds\t");
events::send(events::ID("mavlink_param_rc_chan_out_of_bounds"), events::Log::Warning,
"parameter_rc_channel_index out of bounds");
break;
}