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Commander: lock down mav sys and comp id

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- keeps them as local params at init
- only allow to set at init
This commit is contained in:
Ramon Roche
2024-08-23 07:20:54 -07:00
committed by Daniel Agar
parent 1a0f97ebbd
commit 54f7b58007
2 changed files with 14 additions and 15 deletions
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src/modules/commander/Commander.cpp
+14 -13
View File
@@ -698,11 +698,23 @@ Commander::Commander() :
// default for vtol is rotary wing
_vtol_vehicle_status.vehicle_vtol_state = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
_param_mav_comp_id = param_find("MAV_COMP_ID");
_param_mav_sys_id = param_find("MAV_SYS_ID");
param_t param_mav_comp_id = param_find("MAV_COMP_ID");
param_t param_mav_sys_id = param_find("MAV_SYS_ID");
_param_mav_type = param_find("MAV_TYPE");
_param_rc_map_fltmode = param_find("RC_MAP_FLTMODE");
int32_t value_int32 = 0;
// MAV_SYS_ID => vehicle_status.system_id
if ((param_mav_sys_id != PARAM_INVALID) && (param_get(param_mav_sys_id, &value_int32) == PX4_OK)) {
_vehicle_status.system_id = value_int32;
}
// MAV_COMP_ID => vehicle_status.component_id
if ((param_mav_comp_id != PARAM_INVALID) && (param_get(param_mav_comp_id, &value_int32) == PX4_OK)) {
_vehicle_status.component_id = value_int32;
}
updateParameters();
}
@@ -1682,22 +1694,11 @@ void Commander::updateParameters()
int32_t value_int32 = 0;
// MAV_SYS_ID => vehicle_status.system_id
if ((_param_mav_sys_id != PARAM_INVALID) && (param_get(_param_mav_sys_id, &value_int32) == PX4_OK)) {
_vehicle_status.system_id = value_int32;
}
// MAV_COMP_ID => vehicle_status.component_id
if ((_param_mav_comp_id != PARAM_INVALID) && (param_get(_param_mav_comp_id, &value_int32) == PX4_OK)) {
_vehicle_status.component_id = value_int32;
}
// MAV_TYPE -> vehicle_status.system_type
if ((_param_mav_type != PARAM_INVALID) && (param_get(_param_mav_type, &value_int32) == PX4_OK)) {
_vehicle_status.system_type = value_int32;
}
_vehicle_status.avoidance_system_required = _param_com_obs_avoid.get();
_auto_disarm_killed.set_hysteresis_time_from(false, _param_com_kill_disarm.get() * 1_s);
src/modules/commander/Commander.hpp
-2
View File
@@ -324,8 +324,6 @@ private:
perf_counter_t _preflight_check_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": preflight check")};
// optional parameters
param_t _param_mav_comp_id{PARAM_INVALID};
param_t _param_mav_sys_id{PARAM_INVALID};
param_t _param_mav_type{PARAM_INVALID};
param_t _param_rc_map_fltmode{PARAM_INVALID};