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WIP: parameter uORB access

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This commit is contained in:
Daniel Agar
2021-04-07 20:37:06 -04:00
parent 0c3e64a7f5
commit 4e6f366ead
12 changed files with 260 additions and 145 deletions
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msg/CMakeLists.txt
+2 -2
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@@ -148,8 +148,8 @@ set(msg_files
trajectory_waypoint.msg
transponder_report.msg
tune_control.msg
uavcan_parameter_request.msg
uavcan_parameter_value.msg
parameter_request.msg
parameter_value.msg
ulog_stream.msg
ulog_stream_ack.msg
vehicle_acceleration.msg
msg/parameter_request.msg
+26
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@@ -0,0 +1,26 @@
# UAVCAN-MAVLink parameter bridge request type
uint64 timestamp # time since system start (microseconds)
uint8 MESSAGE_TYPE_PARAM_REQUEST_READ = 20 # MAVLINK_MSG_ID_PARAM_REQUEST_READ
uint8 MESSAGE_TYPE_PARAM_REQUEST_LIST = 21 # MAVLINK_MSG_ID_PARAM_REQUEST_LIST
uint8 MESSAGE_TYPE_PARAM_SET = 23 # MAVLINK_MSG_ID_PARAM_SET
uint8 message_type # message type: PARAM_REQUEST_READ, PARAM_REQUEST_LIST, PARAM_SET
uint8 NODE_ID_ALL = 0 # MAV_COMP_ID_ALL
uint8 node_id # UAVCAN node ID mapped from MAVLink component ID
char[17] param_id # parameter name
int16 param_index # -1 if the param_id field should be used as identifier
uint8 TYPE_UINT8 = 1
uint8 TYPE_INT32 = 6
uint8 TYPE_INT64 = 8
uint8 TYPE_REAL32 = 9
uint8 param_type # parameter type
int64 int_value # current value if param_type is int-like
float32 real_value # current value if param_type is float-like
uint8 ORB_QUEUE_LENGTH = 4
# TOPICS parameter_request uavcan_parameter_request
msg/uavcan_parameter_value.msg → msg/parameter_value.msg
+11 -3
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@@ -1,9 +1,17 @@
# UAVCAN-MAVLink parameter bridge response type
uint64 timestamp # time since system start (microseconds)
uint8 node_id # UAVCAN node ID mapped from MAVLink component ID
char[17] param_id # MAVLink/UAVCAN parameter name
int16 param_index # parameter index, if known
uint16 param_count # number of parameters exposed by the node
uint8 param_type # MAVLink parameter type
int64 int_value # current value if param_type is int-like
float32 real_value # current value if param_type is float-like
uint8 param_type # parameter type
int64 int_value # current value if param_type is int-like
float32 real_value # current value if param_type is float-like
# TOPICS parameter_value uavcan_parameter_value
msg/uavcan_parameter_request.msg
-23
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@@ -1,23 +0,0 @@
# UAVCAN-MAVLink parameter bridge request type
uint64 timestamp # time since system start (microseconds)
uint8 MESSAGE_TYPE_PARAM_REQUEST_READ = 20 # MAVLINK_MSG_ID_PARAM_REQUEST_READ
uint8 MESSAGE_TYPE_PARAM_REQUEST_LIST = 21 # MAVLINK_MSG_ID_PARAM_REQUEST_LIST
uint8 MESSAGE_TYPE_PARAM_SET = 23 # MAVLINK_MSG_ID_PARAM_SET
uint8 message_type # MAVLink message type: PARAM_REQUEST_READ, PARAM_REQUEST_LIST, PARAM_SET
uint8 NODE_ID_ALL = 0 # MAV_COMP_ID_ALL
uint8 node_id # UAVCAN node ID mapped from MAVLink component ID
char[17] param_id # MAVLink/UAVCAN parameter name
int16 param_index # -1 if the param_id field should be used as identifier
uint8 PARAM_TYPE_UINT8 = 1 # MAV_PARAM_TYPE_UINT8
uint8 PARAM_TYPE_INT64 = 8 # MAV_PARAM_TYPE_INT64
uint8 PARAM_TYPE_REAL32 = 9 # MAV_PARAM_TYPE_REAL32
uint8 param_type # MAVLink parameter type
int64 int_value # current value if param_type is int-like
float32 real_value # current value if param_type is float-like
uint8 ORB_QUEUE_LENGTH = 4