C++ AP_Param::save方法代码示例

void GCS_MAVLINK::handle_param_set(mavlink_message_t *msg, DataFlash_Class *DataFlash)
{
    mavlink_param_set_t packet;
    mavlink_msg_param_set_decode(msg, &packet);
    enum ap_var_type var_type;

    // set parameter
    AP_Param *vp;
    char key[AP_MAX_NAME_SIZE+1];
    strncpy(key, (char *)packet.param_id, AP_MAX_NAME_SIZE);
    key[AP_MAX_NAME_SIZE] = 0;

    // find existing param so we can get the old value
    vp = AP_Param::find(key, &var_type);
    if (vp == NULL) {
        return;
    }
    float old_value = vp->cast_to_float(var_type);

    // set the value
    vp->set_float(packet.param_value, var_type);

    /*
      we force the save if the value is not equal to the old
      value. This copes with the use of override values in
      constructors, such as PID elements. Otherwise a set to the
      default value which differs from the constructor value doesn't
      save the change
     */
    bool force_save = !is_equal(packet.param_value, old_value);

    // save the change
    vp->save(force_save);

    // Report back the new value if we accepted the change
    // we send the value we actually set, which could be
    // different from the value sent, in case someone sent
    // a fractional value to an integer type
    mavlink_msg_param_value_send_buf(
        msg,
        chan,
        key,
        vp->cast_to_float(var_type),
        mav_var_type(var_type),
        _count_parameters(),
        -1);     // XXX we don't actually know what its index is...

    if (DataFlash != NULL) {
        DataFlash->Log_Write_Parameter(key, vp->cast_to_float(var_type));
    }
}

Morse::Morse(const char *home_str, const char *frame_str) :
    Aircraft(home_str, frame_str)
{
    char *saveptr = nullptr;
    char *s = strdup(frame_str);
    char *frame_option = strtok_r(s, ":", &saveptr);
    char *args1 = strtok_r(nullptr, ":", &saveptr);
    char *args2 = strtok_r(nullptr, ":", &saveptr);
    char *args3 = strtok_r(nullptr, ":", &saveptr);
    /*
      allow setting of IP, sensors port and control port
      format morse:IPADDRESS:SENSORS_PORT:CONTROL_PORT
     */
    if (args1) {
        morse_ip = args1;
    }
    if (args2) {
        morse_sensors_port = atoi(args2);
        morse_control_port = morse_sensors_port+1;
    }
    if (args3) {
        morse_control_port = atoi(args3);
    }

    if (strstr(frame_option, "-rover")) {
        output_type = OUTPUT_ROVER;
    } else if (strstr(frame_option, "-quad")) {
        output_type = OUTPUT_QUAD;
    } else if (strstr(frame_option, "-pwm")) {
        output_type = OUTPUT_PWM;
    } else {
        // default to rover
        output_type = OUTPUT_ROVER;
    }

    for (uint8_t i=0; i<ARRAY_SIZE(sim_defaults); i++) {
        AP_Param::set_default_by_name(sim_defaults[i].name, sim_defaults[i].value);
        if (sim_defaults[i].save) {
            enum ap_var_type ptype;
            AP_Param *p = AP_Param::find(sim_defaults[i].name, &ptype);
            if (!p->configured()) {
                p->save();
            }
        }
    }
    printf("Started Morse with %s:%u:%u type %u\n",
           morse_ip, morse_sensors_port, morse_control_port,
           (unsigned)output_type);
}

void GCS_MAVLINK::handle_param_set(mavlink_message_t *msg, DataFlash_Class *DataFlash)
{
    mavlink_param_set_t packet;
    mavlink_msg_param_set_decode(msg, &packet);
    enum ap_var_type var_type;

    // set parameter
    AP_Param *vp;
    char key[AP_MAX_NAME_SIZE+1];
    strncpy(key, (char *)packet.param_id, AP_MAX_NAME_SIZE);
    key[AP_MAX_NAME_SIZE] = 0;

    // find existing param so we can get the old value
    vp = AP_Param::find(key, &var_type);
    if (vp == NULL) {
        return;
    }
    float old_value = vp->cast_to_float(var_type);

    // set the value
    vp->set_float(packet.param_value, var_type);

    /*
      we force the save if the value is not equal to the old
      value. This copes with the use of override values in
      constructors, such as PID elements. Otherwise a set to the
      default value which differs from the constructor value doesn't
      save the change
     */
    bool force_save = !is_equal(packet.param_value, old_value);

    // save the change
    vp->save(force_save);

    if (DataFlash != NULL) {
        DataFlash->Log_Write_Parameter(key, vp->cast_to_float(var_type));
    }
}

void GCS_MAVLINK::handle_param_set(mavlink_message_t *msg, DataFlash_Class *DataFlash)
{
    mavlink_param_set_t packet;
    mavlink_msg_param_set_decode(msg, &packet);
    enum ap_var_type var_type;

    // set parameter
    AP_Param *vp;
    char key[AP_MAX_NAME_SIZE+1];
    strncpy(key, (char *)packet.param_id, AP_MAX_NAME_SIZE);
    key[AP_MAX_NAME_SIZE] = 0;

    vp = AP_Param::set_param_by_name(key, packet.param_value, &var_type);
    if (vp == NULL) {
        return;
    }

    // save the change
    vp->save();

    // Report back the new value if we accepted the change
    // we send the value we actually set, which could be
    // different from the value sent, in case someone sent
    // a fractional value to an integer type
    mavlink_msg_param_value_send_buf(
        msg,
        chan,
        key,
        vp->cast_to_float(var_type),
        mav_var_type(var_type),
        _count_parameters(),
        -1);     // XXX we don't actually know what its index is...

    if (DataFlash != NULL) {
        DataFlash->Log_Write_Parameter(key, vp->cast_to_float(var_type));
    }
}