Refactoring of the MAVLink parameter interface #449
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Ready for review. |
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@JonasVautherin I don't think it should break it? Which part would be broken? |
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@JonasVautherin would be good to get this one in. |
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Jul 24, 2018
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| static_cast<rpc::action::ActionResult::Result>(action_result)); | ||
| // rpc_action_result->set_result_str(action_result_str(action_result)); | ||
| response->set_allocated_action_result(rpc_action_result); | ||
| if (response != nullptr) { |
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| actionService.SetMaximumSpeed(nullptr, nullptr, nullptr); | ||
| actionService.SetMaximumSpeed(nullptr, nullptr, &response); |
| actionService.SetMaximumSpeed(nullptr, nullptr, &response); | ||
| } | ||
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| TEST_F(ActionServiceImplTest, setMaxSpeedDoesNotCrashWithNullResponse) |
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We don't need to store params anymore, they are always auto-saved.
This adds a cache for the params so that when you want to get a parameter, it takes it from the cache if you have received it before. This will only really be beneficial once plugins can require params right when they are instantiated respectively when a vehicle is connected.
We should not assume that the firmware is already set to the default takeoff altitude because it might have been changed in the past.
We can't always be sure if settings via commands work, so we do need to supply a way to check for errors.
Also get rid of some unnecessary comments and move the param get methods so they are together.
Instead of setting a default takeoff altitude just rely on the fact that the drone itself has a takeoff altitude set by a parameter. This should avoid surprises where taking off with the SDK has a different altitude than with other ground stations.
These are not needed anymore because the param system should cache it for us.
This way we can get rid of some future/promise duplication.
Since we now have an API to set params sync instead of async we can simplify the way the configuration is applied. Additionally, it does not really make sense to change the PX4 default without asking every time the plugin connects. We should rather fetch the params in the beginning and have them cached for when we need to change them.
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Refactoring of the MAVLink parameter interface
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This is a refactoring of the MAVLink paramter interface. Solves #440.