Merge pull request #7510 from DonLakeFlyer/ParamSet

ArduPilot: Fix parameter write broken by non-ArduPilot component changes

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -295,6 +295,11 @@ void APMFirmwarePlugin::_handleOutgoingParamSet(Vehicle* vehicle, LinkInterface*
 
     mavlink_msg_param_set_decode(message, &paramSet);
 
+    if (!_ardupilotComponentMap[paramSet.target_system][paramSet.target_component]) {
+        // Message is targetted to non-ArduPilot firmware component, assume it uses current mavlink spec
+        return;
+    }
+
     paramUnion.param_float = paramSet.param_value;
 
     switch (paramSet.param_type) {
@@ -502,14 +507,11 @@ bool APMFirmwarePlugin::adjustIncomingMavlinkMessage(Vehicle* vehicle, mavlink_m
 
 void APMFirmwarePlugin::adjustOutgoingMavlinkMessage(Vehicle* vehicle, LinkInterface* outgoingLink, mavlink_message_t* message)
 {
-    // Only translate messages which come from ArduPilot code. All other components are expected to follow current mavlink spec.
-    if (_ardupilotComponentMap[vehicle->id()][message->compid]) {
     switch (message->msgid) {
     case MAVLINK_MSG_ID_PARAM_SET:
         _handleOutgoingParamSet(vehicle, outgoingLink, message);
         break;
     }
-    }
 }
 
 QString APMFirmwarePlugin::_getMessageText(mavlink_message_t* message, bool longVersion) const