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mavlink uavcan parameters initialize value

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This commit is contained in:
Daniel Agar
2019-08-03 15:05:34 -04:00
committed by GitHub
parent 6a6bc4be58
commit 34598fe353
1 changed files with 9 additions and 8 deletions
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17
src/modules/mavlink/mavlink_parameters.cpp
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@@ -383,19 +383,20 @@ bool
MavlinkParametersManager::send_uavcan()
{
/* Send parameter values received from the UAVCAN topic */
if (_uavcan_parameter_value_sub.updated()) {
uavcan_parameter_value_s value;
_uavcan_parameter_value_sub.update(&value);
uavcan_parameter_value_s value{};
if (_uavcan_parameter_value_sub.update(&value)) {
// Check if we received a matching parameter, drop it from the list and request the next
if (_uavcan_open_request_list != nullptr
&& value.param_index == _uavcan_open_request_list->req.param_index
&& value.node_id == _uavcan_open_request_list->req.node_id) {
if ((_uavcan_open_request_list != nullptr)
&& (value.param_index == _uavcan_open_request_list->req.param_index)
&& (value.node_id == _uavcan_open_request_list->req.node_id)) {
dequeue_uavcan_request();
request_next_uavcan_parameter();
}
mavlink_param_value_t msg;
mavlink_param_value_t msg{};
msg.param_count = value.param_count;
msg.param_index = value.param_index;
#if defined(__GNUC__) && __GNUC__ >= 8
@@ -424,7 +425,7 @@ MavlinkParametersManager::send_uavcan()
}
// Re-pack the message with the UAVCAN node ID
mavlink_message_t mavlink_packet;
mavlink_message_t mavlink_packet{};
mavlink_msg_param_value_encode_chan(mavlink_system.sysid, value.node_id, _mavlink->get_channel(), &mavlink_packet,
&msg);
_mavlink_resend_uart(_mavlink->get_channel(), &mavlink_packet);