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driver: Allow pydronecan to set AutoPilot Parameter #93

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driver: Allow pydronecan to set AutoPilot Parameter #93

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4 changes: 4 additions & 0 deletions dronecan/driver/common.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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9 changes: 9 additions & 0 deletions dronecan/driver/mavcan.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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()
Expand Down Expand Up @@ -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
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