Allow sending a param with a different component ID

src/modules/mavlink/mavlink_parameters.cpp

@@ -407,7 +407,7 @@ MavlinkParametersManager::send(const hrt_abstime t)
 }
 
 int
-MavlinkParametersManager::send_param(param_t param)
+MavlinkParametersManager::send_param(param_t param, int component_id)
 {
 	if (param == PARAM_INVALID) {
 		return 1;
@@ -446,7 +446,17 @@ MavlinkParametersManager::send_param(param_t param)
 		msg.param_type = MAVLINK_TYPE_FLOAT;
 	}
 
-	mavlink_msg_param_value_send_struct(_mavlink->get_channel(), &msg);
+	/* default component ID */
+	if (component_id < 0) {
+		mavlink_msg_param_value_send_struct(_mavlink->get_channel(), &msg);
+
+	} else {
+
+		// Re-pack the message with a different component ID
+		mavlink_message_t mavlink_packet;
+		mavlink_msg_param_value_encode_chan(mavlink_system.sysid, component_id, _mavlink->get_channel(), &mavlink_packet, &msg);
+		_mavlink_resend_uart(_mavlink->get_channel(), &mavlink_packet);
+	}
 
 	return 0;
 }

src/modules/mavlink/mavlink_parameters.h

@@ -90,7 +90,7 @@ protected:
 
 	void send(const hrt_abstime t);
 
-	int send_param(param_t param);
+	int send_param(param_t param, int component_id=-1);
 
 	orb_advert_t _rc_param_map_pub;
 	struct rc_parameter_map_s _rc_param_map;