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77 lines
2.8 KiB
Markdown
77 lines
2.8 KiB
Markdown
# Parameter Set Filter Script
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## Description
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This Lua script adds a safty-focused layer to MAVLink parameter setting. When enabled, it intercepts all incoming `PARAM_SET` messages and only allows modification of a predefined whitelist of parameters.
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This is especially useful in scenarios where parameter integrity is critical (e.g., automated testing, payload-hosted GCS systems, or shared telemetry environments).
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When enabled, the script disables ArduPilot's default GCS handling for parameter writes and takes over that responsibility with additional filtering.
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## How It Works
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- Intercepts MAVLink `PARAM_SET` messages targeted at the vehicle.
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- Validates that the parameter ID is in the whitelist.
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- Only whitelisted parameters will be updated.
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- Dynamically toggles ArduPilot’s `gcs:set_allow_param_set()` based on enable state.
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## Requirements
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- ArduPilot 4.7 or later with Lua scripting enabled (`SCR_ENABLE = 1`)
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- copy the script to the vehicle autopilot's "scripts" directory
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- The script must be placed in appropriate directories:
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## Parameters
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This script introduces a new parameter table named `PARAM_SET_`. It includes:
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| Name | Type | Default | Description |
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|-------------------|--------|---------|----------------------------------------|
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| `ENABLE` | `int` | `1` | Enables (1) or disables (0) the script |
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You can disable the script by setting `PARAM_SET_ENABLE = 0`. **Note:** disabling `SCR_ENABLE` while this script is actively blocking parameter sets is not recommended.
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## Whitelisted Parameters
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Only the following parameters are allowed to be set when the script is enabled:
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- `MAV_OPTIONS`
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- `PARAM_SET_ENABLE`
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- Battery parameters (e.g., `BATT_ARM_MAH`, `BATT_FS_CRT_ACT`, etc.)
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- `BRD_OPTIONS`
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- `COMPASS_USE3`
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- Geofence and RTL parameters (e.g., `FENCE_TYPE`, `RTL_ALT_M`)
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- `LOG_*`, `LIGHTS_ON`
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(See the full script for the complete whitelist.)
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## Usage
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1. Copy the script into the SD card's scripts directory.
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2. Ensure `SCR_ENABLE` and `PARAM_SET_ENABLE` are both set to `1`.
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3. Reboot the autopilot or reload the script if necessary.
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## Logging & Debugging
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The script sends diagnostic messages to the GCS:
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- Allowed parameter updates show a `param set received` message.
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- Blocked updates show a `param set denied` message with the offending parameter name.
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Example output:
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[param-set] param set received
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[param-set] param set denied (LOG_BACKEND_TYPE)
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## Limitations
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- Only handles `PARAM_SET` messages (not `PARAM_REQUEST_*`).
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- The parameter whitelist is hardcoded; changes require script edits.
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- ArduPilot must support the `gcs:set_allow_param_set()` interface.
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- parameter upload via FTP is denied when this script is running
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## Author
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[Contributed via PR #29989](https://github.com/ArduPilot/ardupilot/pull/29989)
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May 2025
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