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Implement parameters subsystem

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* Unified parameters storage.
* Store parameters in flash on the hardware.
* Store parameters in text file in simulation.
* Work with parameters in command line.
* Support parameters in MAVLink for working with parameters in QGC.
This commit is contained in:
Oleg Kalachev
2024-12-23 13:00:02 +03:00
parent 28f6cfff60
commit ae349fb73c
15 changed files with 320 additions and 91 deletions
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44
flix/mavlink.ino
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@@ -84,6 +84,7 @@ void receiveMavlink() {
void handleMavlink(const void *_msg) {
mavlink_message_t *msg = (mavlink_message_t *)_msg;
if (msg->msgid == MAVLINK_MSG_ID_MANUAL_CONTROL) {
mavlink_manual_control_t manualControl;
mavlink_msg_manual_control_decode(msg, &manualControl);
@@ -97,6 +98,49 @@ void handleMavlink(const void *_msg) {
if (abs(controls[RC_CHANNEL_YAW]) < MAVLINK_CONTROL_YAW_DEAD_ZONE) controls[RC_CHANNEL_YAW] = 0;
}
if (msg->msgid == MAVLINK_MSG_ID_PARAM_REQUEST_LIST) {
mavlink_message_t msg;
for (int i = 0; i < parametersCount(); i++) {
mavlink_msg_param_value_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg,
getParameterName(i), getParameter(i), MAV_PARAM_TYPE_REAL32, parametersCount(), i);
sendMessage(&msg);
}
}
if (msg->msgid == MAVLINK_MSG_ID_PARAM_REQUEST_READ) {
mavlink_param_request_read_t paramRequestRead;
mavlink_msg_param_request_read_decode(msg, &paramRequestRead);
char name[16 + 1];
strlcpy(name, paramRequestRead.param_id, sizeof(name)); // param_id might be not null-terminated
float value = strlen(name) == 0 ? getParameter(paramRequestRead.param_index) : getParameter(name);
if (paramRequestRead.param_index != -1) {
memcpy(name, getParameterName(paramRequestRead.param_index), 16);
}
mavlink_message_t msg;
mavlink_msg_param_value_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg,
name, value, MAV_PARAM_TYPE_REAL32, parametersCount(), paramRequestRead.param_index);
sendMessage(&msg);
}
if (msg->msgid == MAVLINK_MSG_ID_PARAM_SET) {
mavlink_param_set_t paramSet;
mavlink_msg_param_set_decode(msg, &paramSet);
char name[16 + 1];
strlcpy(name, paramSet.param_id, sizeof(name)); // param_id might be not null-terminated
setParameter(name, paramSet.param_value);
// send ack
mavlink_message_t msg;
mavlink_msg_param_value_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg,
paramSet.param_id, paramSet.param_value, MAV_PARAM_TYPE_REAL32, parametersCount(), 0); // index is unknown
sendMessage(&msg);
}
if (msg->msgid == MAVLINK_MSG_ID_MISSION_REQUEST_LIST) { // handle to make qgc happy
mavlink_message_t msg;
mavlink_msg_mission_count_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, 0, 0, 0, MAV_MISSION_TYPE_MISSION, 0);
sendMessage(&msg);
}
}
// Convert Forward-Left-Up to Forward-Right-Down quaternion