mavlink: make param optional

If the gimbal module is not built in we don't have the MNT_MODE_IN param, so we need to deal with that.
PX4 · Oct 16, 2024 · 79ff33a · 79ff33a
1 parent 899b984
commit 79ff33a
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Showing 2 changed files with 13 additions and 4 deletions.
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
@@ -1075,8 +1075,18 @@ Mavlink::send_autopilot_capabilities()
 		msg.capabilities |= MAV_PROTOCOL_CAPABILITY_MISSION_FENCE;
 		msg.capabilities |= MAV_PROTOCOL_CAPABILITY_MISSION_RALLY;
 
-		if (_param_mnt_mode_in.get() == 4) {
-			msg.capabilities |= MAV_PROTOCOL_CAPABILITY_COMPONENT_IMPLEMENTS_GIMBAL_MANAGER;
+
+		{
+			param_t param_handle = param_find_no_notification("MNT_MODE_IN");
+			int32_t mnt_mode_in = 0;
+
+			if (mnt_mode_in != PARAM_INVALID) {
+				param_get(param_handle, &mnt_mode_in);
+
+				if (mnt_mode_in == 4) {
+					msg.capabilities |= MAV_PROTOCOL_CAPABILITY_COMPONENT_IMPLEMENTS_GIMBAL_MANAGER;
+				}
+			}
 		}
 
 		msg.flight_sw_version = px4_firmware_version();

diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h
@@ -664,8 +664,7 @@ class Mavlink final : public ModuleParams
 		(ParamBool<px4::params::MAV_HB_FORW_EN>) _param_mav_hb_forw_en,
 		(ParamInt<px4::params::MAV_RADIO_TOUT>)      _param_mav_radio_timeout,
 		(ParamInt<px4::params::SYS_HITL>) _param_sys_hitl,
-		(ParamBool<px4::params::SYS_FAILURE_EN>) _param_sys_failure_injection_enabled,
-		(ParamInt<px4::params::MNT_MODE_IN>) _param_mnt_mode_in
+		(ParamBool<px4::params::SYS_FAILURE_EN>) _param_sys_failure_injection_enabled
 	)
 
 	perf_counter_t _loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": tx run elapsed")};                      /**< loop performance counter */