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Enable usage of UAVCAN node ID for params

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Lorenz Meier
2016-08-20 18:15:56 +02:00
committed by Lorenz Meier
parent 9866ff8959
commit 86c581b2ef
1 changed files with 4 additions and 1 deletions
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src/modules/mavlink/mavlink_parameters.cpp
+4 -1
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@@ -349,7 +349,10 @@ MavlinkParametersManager::send(const hrt_abstime t)
msg.param_type = MAVLINK_TYPE_INT32_T;
}
mavlink_msg_param_value_send_struct(_mavlink->get_channel(), &msg);
// Re-pack the message with the UAVCAN node ID
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);
} else if (_send_all_index >= 0 && _mavlink->boot_complete()) {
/* send all parameters if requested, but only after the system has booted */