fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

MAVLink app: Send newest param hash for every param change to notify GCS about change

Browse Source 
This should help keeping the GCS up to date about asynchronous changes on the autopilot.
This commit is contained in:
Lorenz Meier 2018-01-03 22:36:14 +01:00
parent ca0267b4e9
commit fba592b5fc
3 changed files with 17 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
src/modules/mavlink/mavlink_main.cpp
View File

@ -2190,9 +2190,23 @@ Mavlink::task_main(int argc, char *argv[])
update_rate_mult();
if (param_sub->update(&param_time, nullptr)) {
/* param update backoff: update only after 50 ms after the last change */
param_sub->update(&param_time, nullptr);
if (param_time + 100 * 1000 > hrt_absolute_time()) {
/* parameters updated */
mavlink_update_system();
/* send out param cache value */
uint32_t hash = param_hash_check();
/* build the one-off response message */
mavlink_param_value_t param_value;
param_value.param_count = param_count_used();
param_value.param_index = -1;
strncpy(param_value.param_id, HASH_PARAM, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
param_value.param_type = MAV_PARAM_TYPE_UINT32;
memcpy(&param_value.param_value, &hash, sizeof(hash));
mavlink_msg_param_value_send_struct(get_channel(), &param_value);
}
check_radio_config();

2
src/modules/mavlink/mavlink_main.h
View File

@ -77,6 +77,8 @@ enum Protocol {
TCP,
};
#define HASH_PARAM "_HASH_CHECK"
class Mavlink
{

2
src/modules/mavlink/mavlink_parameters.cpp
View File

@ -47,8 +47,6 @@
#include "mavlink_parameters.h"
#include "mavlink_main.h"
#define HASH_PARAM "_HASH_CHECK"
MavlinkParametersManager::MavlinkParametersManager(Mavlink *mavlink) :
_send_all_index(-1),
_uavcan_open_request_list(nullptr),