From 9f6aa7dabd51b9e408fba82bd8f092253951e8f7 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Sat, 11 Dec 2021 09:54:02 +0300
Subject: [PATCH] docs: add get-param and set-param snippets

---
 docs/en/snippets.md | 42 ++++++++++++++++++++++++++++++++++++++++++
 docs/ru/snippets.md | 42 ++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 84 insertions(+)

diff --git a/docs/en/snippets.md b/docs/en/snippets.md
index 49d4e986..c22b8846 100644
--- a/docs/en/snippets.md
+++ b/docs/en/snippets.md
@@ -399,3 +399,45 @@ while not rospy.is_shutdown():
         break
     rospy.sleep(0.2)
 ```
+
+### # {#get-param}
+
+Read flight controller's parameter:
+
+```python
+from mavros_msgs.srv import ParamGet
+from mavros_msgs.msg import ParamValue
+
+# ...
+
+param_get = rospy.ServiceProxy('mavros/param/get', ParamGet)
+
+# ...
+
+# Read parameter of type INT
+value = param_get(param_id='COM_FLTMODE1').value.integer
+
+# Read parameter of type FLOAT
+value = param_get(param_id='MPC_Z_P').value.float
+```
+
+### # {#set-param}
+
+Set flight controller's parameter:
+
+```python
+from mavros_msgs.srv import ParamSet
+from mavros_msgs.msg import ParamValue
+
+# ...
+
+param_set = rospy.ServiceProxy('mavros/param/set', ParamSet)
+
+# ...
+
+# Set parameter of type INT:
+param_set(param_id='COM_FLTMODE1', value=ParamValue(integer=8))
+
+# Set parameter of type FLOAT:
+param_set(param_id='MPC_Z_P', value=ParamValue(real=1.5))
+```
diff --git a/docs/ru/snippets.md b/docs/ru/snippets.md
index 5d60cffa..1dd3a726 100644
--- a/docs/ru/snippets.md
+++ b/docs/ru/snippets.md
@@ -417,3 +417,45 @@ while not rospy.is_shutdown():
         break
     rospy.sleep(0.2)
 ```
+
+### # {#get-param}
+
+Считать параметр полетного контроллера:
+
+```python
+from mavros_msgs.srv import ParamGet
+from mavros_msgs.msg import ParamValue
+
+# ...
+
+param_get = rospy.ServiceProxy('mavros/param/get', ParamGet)
+
+# ...
+
+# Считать параметр типа INT
+value = param_get(param_id='COM_FLTMODE1').value.integer
+
+# Считать параметр типа FLOAT
+value = param_get(param_id='MPC_Z_P').value.float
+```
+
+### # {#set-param}
+
+Изменить параметр полетного контроллера:
+
+```python
+from mavros_msgs.srv import ParamSet
+from mavros_msgs.msg import ParamValue
+
+# ...
+
+param_set = rospy.ServiceProxy('mavros/param/set', ParamSet)
+
+# ...
+
+# Изменить параметр типа INT:
+param_set(param_id='COM_FLTMODE1', value=ParamValue(integer=8))
+
+# Изменить параметр типа FLOAT:
+param_set(param_id='MPC_Z_P', value=ParamValue(real=1.5))
+```