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Merge pull request #1208 from PX4/sysid_reboot

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Fixes #1207
This commit is contained in:
Julian Oes
2014-07-25 19:15:55 +02:00
parent bd808ccf3a a2da34be16
commit 277a16873b
1 changed files with 24 additions and 7 deletions
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src/modules/mavlink/mavlink_main.cpp
+24 -7
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@@ -559,22 +559,39 @@ void Mavlink::mavlink_update_system(void)
_param_component_id = param_find("MAV_COMP_ID"); _param_component_id = param_find("MAV_COMP_ID");
_param_system_type = param_find("MAV_TYPE"); _param_system_type = param_find("MAV_TYPE");
_param_use_hil_gps = param_find("MAV_USEHILGPS"); _param_use_hil_gps = param_find("MAV_USEHILGPS");
_param_initialized = true;
} }
/* update system and component id */ /* update system and component id */
int32_t system_id; int32_t system_id;
param_get(_param_system_id, &system_id); param_get(_param_system_id, &system_id);
if (system_id > 0 && system_id < 255) {
mavlink_system.sysid = system_id;
}
int32_t component_id; int32_t component_id;
param_get(_param_component_id, &component_id); param_get(_param_component_id, &component_id);
if (component_id > 0 && component_id < 255) {
mavlink_system.compid = component_id; /* only allow system ID and component ID updates
* after reboot - not during operation */
if (!_param_initialized) {
if (system_id > 0 && system_id < 255) {
mavlink_system.sysid = system_id;
}
if (component_id > 0 && component_id < 255) {
mavlink_system.compid = component_id;
}
_param_initialized = true;
}
/* warn users that they need to reboot to take this
* into effect
*/
if (system_id != mavlink_system.sysid) {
send_statustext_critical("Save params and reboot to change SYSID");
}
if (component_id != mavlink_system.compid) {
send_statustext_critical("Save params and reboot to change COMPID");
} }
int32_t system_type; int32_t system_type;