From 5fde927dc9bad8572995f8586bcad9ce25531537 Mon Sep 17 00:00:00 2001
From: Pavlo Kolomiiets <pkolomiets@gmail.com>
Date: Wed, 11 Sep 2024 09:25:25 +0300
Subject: [PATCH] core: Fix reading int8/16 params from ArduPilot

When reading one-by-one with get_param_int
---
 src/mavsdk/core/mavlink_parameter_client.cpp | 23 ++++++++++++++++++++
 1 file changed, 23 insertions(+)

diff --git a/src/mavsdk/core/mavlink_parameter_client.cpp b/src/mavsdk/core/mavlink_parameter_client.cpp
index 57d72e956..cd5a918b3 100644
--- a/src/mavsdk/core/mavlink_parameter_client.cpp
+++ b/src/mavsdk/core/mavlink_parameter_client.cpp
@@ -293,6 +293,29 @@ void MavlinkParameterClient::get_param_async_typesafe(
     get_param_async(name, callback_future_result, cookie);
 }
 
+template<>
+void MavlinkParameterClient::get_param_async_typesafe(
+    const std::string& name, const GetParamTypesafeCallback<int32_t> callback, const void* cookie)
+{
+    // We need to delay the type checking until we get a response from the server.
+    GetParamAnyCallback callback_future_result = [callback](Result result, ParamValue value) {
+        if (result == Result::Success) {
+            if (value.is<int32_t>()) {
+                callback(Result::Success, value.get<int32_t>());
+            } else if (value.is<int16_t>()) {
+                callback(Result::Success, value.get<int16_t>());
+            } else if (value.is<int8_t>()) {
+                callback(Result::Success, value.get<int8_t>());
+            } else {
+                callback(Result::WrongType, {});
+            }
+        } else {
+            callback(result, {});
+        }
+    };
+    get_param_async(name, callback_future_result, cookie);
+}
+
 void MavlinkParameterClient::get_param_float_async(
     const std::string& name, const GetParamFloatCallback& callback, const void* cookie)
 {