From 4f8cf7684358e6ef4ee59a4f7ac7f6c141d1a8ef Mon Sep 17 00:00:00 2001
From: James O'Shannessy <12959316+joshanne@users.noreply.github.com>
Date: Thu, 11 Dec 2025 08:45:33 +1100
Subject: [PATCH 1/2] driver: cleanup of the Common and MAVCAN Drivers

Removes duplicate methods. Corrects comments on methods. Marks statically used methods as such.
---
 dronecan/driver/common.py | 16 +++++-----------
 dronecan/driver/mavcan.py |  8 +++-----
 2 files changed, 8 insertions(+), 16 deletions(-)

diff --git a/dronecan/driver/common.py b/dronecan/driver/common.py
index 171f019..e06adc9 100644
--- a/dronecan/driver/common.py
+++ b/dronecan/driver/common.py
@@ -53,6 +53,7 @@ def __str__(self):
         return "%12.6f %12.6f  %s  %s  '%s'" % \
                (self.ts_monotonic, self.ts_real, id_str, hex_data, ascii_data)
 
+    @staticmethod
     def dlc_to_datalength(dlc):
         # Data Length Code      9  10  11  12  13  14  15
         # Number of data bytes 12  16  20  24  32  48  64
@@ -72,6 +73,7 @@ def dlc_to_datalength(dlc):
             return 48
         return 64
 
+    @staticmethod
     def datalength_to_dlc(data_length):
         if (data_length <= 8):
             return data_length
@@ -134,10 +136,10 @@ def set_filter_list(self, ids):
         '''set list of message IDs to accept, sent to the remote capture node with mavcan'''
         pass
 
-    def get_filter_list(self, ids):
-        '''get list of message IDs to accept, None means accept all'''
+    def get_filter_list(self):
+        '''get the current filter list'''
         return None
-    
+
     def set_bus(self, busnum):
         '''set the remote bus number to attach to'''
         pass
@@ -146,14 +148,6 @@ def get_bus(self):
         '''get the remote bus number we are attached to'''
         return None
 
-    def get_filter_list(self):
-        '''get the current filter list'''
-        return None
-    
-    def set_bus(self, busnum):
-        '''set the remote bus number to attach to'''
-        pass
-
     def set_signing_passphrase(self, passphrase):
         '''set MAVLink2 signing passphrase'''
         pass
diff --git a/dronecan/driver/mavcan.py b/dronecan/driver/mavcan.py
index 4f0b9bf..1a9e06c 100644
--- a/dronecan/driver/mavcan.py
+++ b/dronecan/driver/mavcan.py
@@ -248,6 +248,7 @@ def send_frame(self, frame):
         self._tx_hook(frame)
         self.tx_queue.put_nowait(frame)
 
+    @staticmethod
     def is_mavlink_port(device_name, baudrate):
         '''check if a device is sending mavlink'''
         os.environ['MAVLINK20'] = '1'
@@ -263,8 +264,8 @@ def set_filter_list(self, ids):
         self.filter_list = ids
         self.tx_queue.put_nowait(ControlMessage('FilterList', self.filter_list))
 
-    def get_filter_list(self, ids):
-        '''set list of message IDs to accept, sent to the remote capture node with mavcan'''
+    def get_filter_list(self):
+        '''get list of message IDs to accept'''
         return self.filter_list
 
     def set_bus(self, busnum):
@@ -278,9 +279,6 @@ def get_bus(self):
         '''get the remote bus number we are attached to'''
         return self.bus+1
 
-    def get_filter_list(self):
-        '''get the current filter list'''
-        return self.filter_list
 
     def passphrase_to_key(self, passphrase):
         '''convert a passphrase to a 32 byte key'''

From 25e824b461fad700f6af437a798d84578d31ab3a 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 2/2] 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 | 8 ++++++++
 2 files changed, 12 insertions(+)

diff --git a/dronecan/driver/common.py b/dronecan/driver/common.py
index e06adc9..5622c6b 100644
--- a/dronecan/driver/common.py
+++ b/dronecan/driver/common.py
@@ -152,6 +152,10 @@ 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 1a9e06c..f6086f6 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()
@@ -279,6 +281,12 @@ def get_bus(self):
         '''get the remote bus number we are attached to'''
         return self.bus+1
 
+    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'''