mavlink: param_get proper type to silence errors

src/lib/parameters/param.h

@@ -446,12 +446,18 @@ __END_DECLS
 
 
 #if defined(__cplusplus) && !defined(PARAM_IMPLEMENTATION)
-#if 0 // set to 1 to debug param type mismatches
+#if 1 // set to 1 to debug param type mismatches
 #include <cstdio>
+#include <px4_platform_common/log.h>
+
+#ifndef MODULE_NAME
+#define MODULE_NAME "px4"
+#endif
+
 #define CHECK_PARAM_TYPE(param, type) \
 	if (param_type(param) != type) { \
 		/* use printf() to avoid having to use more includes */ \
-		printf("wrong type passed to param_get() for param %s\n", param_name(param)); \
+		PX4_ERR("wrong type passed to param_get() for param %s", param_name(param)); \
 	}
 #else
 #define CHECK_PARAM_TYPE(param, type)

src/modules/mavlink/mavlink_parameters.cpp

@@ -516,20 +516,31 @@ MavlinkParametersManager::send_param(param_t param, int component_id)
 		return 1;
 	}
 
-	mavlink_param_value_t msg;
+	mavlink_param_value_t msg{};
 
 	/*
 	 * get param value, since MAVLink encodes float and int params in the same
 	 * space during transmission, copy param onto float val_buf
 	 */
-	float param_value{};
+	if (param_type(param) == PARAM_TYPE_INT32) {
+		int32_t param_value;
 
-	if (param_get(param, &param_value) != OK) {
-		return 2;
+		if (param_get(param, &param_value) != OK) {
+			return 2;
+		}
+
+		memcpy(&msg.param_value, &param_value, sizeof(param_value));
+
+	} else {
+		float param_value;
+
+		if (param_get(param, &param_value) != OK) {
+			return 2;
+		}
+
+		msg.param_value = param_value;
 	}
 
-	msg.param_value = param_value;
-
 	msg.param_count = param_count_used();
 	msg.param_index = param_get_used_index(param);
 

src/modules/mavlink/mavlink_receiver.h

@@ -396,7 +396,7 @@ private:
 	float _param_sens_flow_maxhgt{-1.0f};
 	float _param_sens_flow_maxr{-1.0f};
 	float _param_sens_flow_minhgt{-1.0f};
-	float _param_sens_flow_rot{-1.0f};
+	int32_t _param_sens_flow_rot{0};
 
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::BAT_CRIT_THR>)     _param_bat_crit_thr,