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MAVLink app: Send newest param hash for every param change to notify GCS about change

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This should help keeping the GCS up to date about asynchronous changes on the autopilot.
This commit is contained in:
Lorenz Meier
2018-01-03 22:36:14 +01:00
parent ca0267b4e9
commit fba592b5fc
3 changed files with 17 additions and 3 deletions
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16
src/modules/mavlink/mavlink_main.cpp
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@@ -2190,9 +2190,23 @@ Mavlink::task_main(int argc, char *argv[])
update_rate_mult();
if (param_sub->update(&param_time, nullptr)) {
/* param update backoff: update only after 50 ms after the last change */
param_sub->update(&param_time, nullptr);
if (param_time + 100 * 1000 > hrt_absolute_time()) {
/* parameters updated */
mavlink_update_system();
/* send out param cache value */
uint32_t hash = param_hash_check();
/* build the one-off response message */
mavlink_param_value_t param_value;
param_value.param_count = param_count_used();
param_value.param_index = -1;
strncpy(param_value.param_id, HASH_PARAM, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
param_value.param_type = MAV_PARAM_TYPE_UINT32;
memcpy(&param_value.param_value, &hash, sizeof(hash));
mavlink_msg_param_value_send_struct(get_channel(), &param_value);
}
check_radio_config();