fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-01 11:54:07 +08:00
Code Issues Packages Projects Releases Wiki Activity

px4_param.h: add ParamExtFloat & ParamExtInt (required by ekf2)

Browse Source
This commit is contained in:
Beat Küng 2018-03-03 14:45:43 +01:00
parent 89a775b401
commit eb33145ac8
1 changed files with 73 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

73
src/platforms/px4_param.h
View File

@ -139,6 +139,40 @@ private:
float _val;
};
// external version
template<px4::params p>
class Param<float &, p>
{
public:
// static type-check
static_assert(px4::param_types_array[(int)p] == PARAM_TYPE_FLOAT, "parameter type must be float");
Param(float &external_val)
: _val(external_val)
{
param_set_used(handle());
update();
}
float get() const { return _val; }
const float &reference() const { return _val; }
/// Store the parameter value to the parameter storage (@see param_set())
bool commit() const { return param_set(handle(), &_val) == 0; }
/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
bool commit_no_notification() const { return param_set_no_notification(handle(), &_val) == 0; }
void set(float val) { _val = val; }
bool update() { return param_get(handle(), &_val) == 0; }
param_t handle() const { return param_handle(p); }
private:
float &_val;
};
template<px4::params p>
class Param<int32_t, p>
{
@ -171,6 +205,39 @@ private:
int32_t _val;
};
//external version
template<px4::params p>
class Param<int32_t &, p>
{
public:
// static type-check
static_assert(px4::param_types_array[(int)p] == PARAM_TYPE_INT32, "parameter type must be int32_t");
Param(int32_t &external_val)
: _val(external_val)
{
param_set_used(handle());
update();
}
int32_t get() const { return _val; }
const int32_t &reference() const { return _val; }
/// Store the parameter value to the parameter storage (@see param_set())
bool commit() const { return param_set(handle(), &_val) == 0; }
/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
bool commit_no_notification() const { return param_set_no_notification(handle(), &_val) == 0; }
void set(int32_t val) { _val = val; }
bool update() { return param_get(handle(), &_val) == 0; }
param_t handle() const { return param_handle(p); }
private:
int32_t &_val;
};
template<px4::params p>
class Param<bool, p>
@ -229,6 +296,12 @@ using ParamFloat = Param<float, p>;
template <px4::params p>
using ParamInt = Param<int32_t, p>;
template <px4::params p>
using ParamExtFloat = Param<float &, p>;
template <px4::params p>
using ParamExtInt = Param<int32_t &, p>;
template <px4::params p>
using ParamBool = Param<bool, p>;