From 98cd3008857d211ba6fb5142269c053a74b3694b Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 29 Nov 2018 09:54:15 +0900
Subject: [PATCH] AP_Param: add set_defaults_from_table

---
 libraries/AP_Param/AP_Param.cpp | 16 ++++++++++++++++
 libraries/AP_Param/AP_Param.h   | 14 +++++++++++++-
 2 files changed, 29 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Param/AP_Param.cpp b/libraries/AP_Param/AP_Param.cpp
index c43252b7d9..06480fda64 100644
--- a/libraries/AP_Param/AP_Param.cpp
+++ b/libraries/AP_Param/AP_Param.cpp
@@ -2197,6 +2197,22 @@ bool AP_Param::set_default_by_name(const char *name, float value)
     return false;
 }
 
+/*
+  set parameter defaults from a defaults_struct table
+  sends GCS message and panics (in SITL only) if parameter is not found
+ */
+void AP_Param::set_defaults_from_table(const struct defaults_table_struct *table, uint8_t count)
+{
+    for (uint8_t i=0; i<count; i++) {
+        if (!AP_Param::set_default_by_name(table[i].name, table[i].value)) {
+            gcs().send_text(MAV_SEVERITY_INFO, "set param default failure for %s", table[i].name);
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+            AP_HAL::panic("set param default failure for %s", table[i].name);
+#endif
+        }
+    }
+}
+
 /*
   set a value by name
  */
diff --git a/libraries/AP_Param/AP_Param.h b/libraries/AP_Param/AP_Param.h
index d43a55a3a9..c1dfdbc7f8 100644
--- a/libraries/AP_Param/AP_Param.h
+++ b/libraries/AP_Param/AP_Param.h
@@ -174,6 +174,12 @@ public:
         const char *new_name;
     };
 
+    // param default table element
+    struct defaults_table_struct {
+        const char *name;   // parameter name
+        float value;        // parameter value
+    };
+
     // called once at startup to setup the _var_info[] table. This
     // will also check the EEPROM header and re-initialise it if the
     // wrong version is found
@@ -256,7 +262,13 @@ public:
     /// @param  value           The default value
     /// @return                 true if the variable is found
     static bool set_default_by_name(const char *name, float value);
-    
+
+    /// set parameter defaults from a defaults_table_struct
+    ///
+    /// @param table            pointer to array of defaults_table_struct structures
+    /// @param count            number of elements in table array
+    static void set_defaults_from_table(const struct defaults_table_struct *table, uint8_t count);
+
     /// set a value by name
     ///
     /// @param  name            The full name of the variable to be found.