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