From 83c150eb5442225a79fd8e9530a73770beeb4119 Mon Sep 17 00:00:00 2001
From: James O'Shannessy <12959316+joshanne@users.noreply.github.com>
Date: Thu, 11 Dec 2025 08:52:03 +1100
Subject: [PATCH] driver: Allow mavcan driver to set an AutoPilot Parameter

Allows the driver to send a param set request to the autopilot, meaning we can programatically set parameters from dronecan_gui_tool if necessary
---
 dronecan/driver/common.py | 4 ++++
 dronecan/driver/mavcan.py | 9 +++++++++
 2 files changed, 13 insertions(+)

diff --git a/dronecan/driver/common.py b/dronecan/driver/common.py
index 171f019..184f6f0 100644
--- a/dronecan/driver/common.py
+++ b/dronecan/driver/common.py
@@ -158,6 +158,10 @@ def set_signing_passphrase(self, passphrase):
         '''set MAVLink2 signing passphrase'''
         pass
 
+    def set_parameter(self, name, value):
+        '''set parameter on the remote device'''
+        pass
+
     def stream_progress(self):
         '''stream progress of the current stream'''
         pass
diff --git a/dronecan/driver/mavcan.py b/dronecan/driver/mavcan.py
index 4f0b9bf..a52eeec 100644
--- a/dronecan/driver/mavcan.py
+++ b/dronecan/driver/mavcan.py
@@ -119,6 +119,8 @@ def handle_control_message(m):
             nonlocal signing_key
             signing_key = m.data
             conn.setup_signing(signing_key, sign_outgoing=True)
+        elif m.command == "SetParam":
+            conn.param_set_send(m.data[0], m.data[1])
 
     connect()
     enable_can_forward()
@@ -282,6 +284,13 @@ def get_filter_list(self):
         '''get the current filter list'''
         return self.filter_list
 
+    def set_parameter(self, name, value):
+        '''set parameter in the remote air vehicle'''
+        if len(name) > 16:
+            raise DriverError('Parameter name %s too long' % name)
+
+        self.tx_queue.put_nowait(ControlMessage('SetParam', (name, value)))
+
     def passphrase_to_key(self, passphrase):
         '''convert a passphrase to a 32 byte key'''
         import hashlib