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Support integer parameters in addition to floats

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The variable pointer is stored as a union field.
If `.integer` field is true, then integer pointer should be used.
Interfaces to parameters (cli and mavlink) keep working using floats.
Setting a non-finite value to int parameter will cause an error.
`.value` field is renamed to `.cache`.
This commit is contained in:
Oleg Kalachev
2026-01-22 22:54:05 +03:00
parent a6bad3a69b
commit c0f3301da4
2 changed files with 23 additions and 14 deletions
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3
flix/mavlink.ino
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@@ -142,7 +142,8 @@ void handleMavlink(const void *_msg) {
char name[MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN + 1]; char name[MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN + 1];
strlcpy(name, m.param_id, sizeof(name)); // param_id might be not null-terminated strlcpy(name, m.param_id, sizeof(name)); // param_id might be not null-terminated
setParameter(name, m.param_value); bool success = setParameter(name, m.param_value);
if (!success) return;
// send ack // send ack
mavlink_message_t msg; mavlink_message_t msg;
mavlink_msg_param_value_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, mavlink_msg_param_value_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg,

34
flix/parameters.ino
View File

@@ -14,8 +14,13 @@ Preferences storage;
struct Parameter { struct Parameter {
const char *name; // max length is 15 (Preferences key limit) const char *name; // max length is 15 (Preferences key limit)
float *variable; bool integer;
float value; // cache union { float *f; int *i; }; // pointer to variable
float cache; // what's stored in flash
Parameter(const char *name, float *variable) : name(name), integer(false), f(variable) {};
Parameter(const char *name, int *variable) : name(name), integer(true), i(variable) {};
float getValue() const { return integer ? *i : *f; };
void setValue(const float value) { if (integer) *i = value; else *f = value; };
}; };
Parameter parameters[] = { Parameter parameters[] = {
@@ -84,10 +89,10 @@ void setupParameters() {
// Read parameters from storage // Read parameters from storage
for (auto &parameter : parameters) { for (auto &parameter : parameters) {
if (!storage.isKey(parameter.name)) { if (!storage.isKey(parameter.name)) {
storage.putFloat(parameter.name, *parameter.variable); storage.putFloat(parameter.name, parameter.getValue()); // store default value
} }
*parameter.variable = storage.getFloat(parameter.name, *parameter.variable); parameter.setValue(storage.getFloat(parameter.name, 0));
parameter.value = *parameter.variable; parameter.cache = parameter.getValue();
} }
} }
@@ -102,13 +107,13 @@ const char *getParameterName(int index) {
float getParameter(int index) { float getParameter(int index) {
if (index < 0 || index >= parametersCount()) return NAN; if (index < 0 || index >= parametersCount()) return NAN;
return *parameters[index].variable; return parameters[index].getValue();
} }
float getParameter(const char *name) { float getParameter(const char *name) {
for (auto &parameter : parameters) { for (auto &parameter : parameters) {
if (strcmp(parameter.name, name) == 0) { if (strcmp(parameter.name, name) == 0) {
return *parameter.variable; return parameter.getValue();
} }
} }
return NAN; return NAN;
@@ -117,7 +122,8 @@ float getParameter(const char *name) {
bool setParameter(const char *name, const float value) { bool setParameter(const char *name, const float value) {
for (auto &parameter : parameters) { for (auto &parameter : parameters) {
if (strcmp(parameter.name, name) == 0) { if (strcmp(parameter.name, name) == 0) {
*parameter.variable = value; if (parameter.integer && !isfinite(value)) return false; // can't set integer to NaN or Inf
parameter.setValue(value);
return true; return true;
} }
} }
@@ -130,16 +136,18 @@ void syncParameters() {
if (motorsActive()) return; // don't use flash while flying, it may cause a delay if (motorsActive()) return; // don't use flash while flying, it may cause a delay
for (auto &parameter : parameters) { for (auto &parameter : parameters) {
if (parameter.value == *parameter.variable) continue; if (parameter.getValue() == parameter.cache) continue; // no change
if (isnan(parameter.value) && isnan(*parameter.variable)) continue; // handle NAN != NAN if (isnan(parameter.getValue()) && isnan(parameter.cache)) continue; // both are NaN
storage.putFloat(parameter.name, *parameter.variable); if (isinf(parameter.getValue()) && isinf(parameter.cache)) continue; // both are Inf
parameter.value = *parameter.variable;
storage.putFloat(parameter.name, parameter.getValue());
parameter.cache = parameter.getValue(); // update cache
} }
} }
void printParameters() { void printParameters() {
for (auto &parameter : parameters) { for (auto &parameter : parameters) {
print("%s = %g\n", parameter.name, *parameter.variable); print("%s = %g\n", parameter.name, parameter.getValue());
} }
} }