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Plane: fixed bug in transmitter tuning 

This bug affects transmitter tuning of parameters that have never been
saved to eeprom and don't have a default value in the AP_Param
tables. When reverting these parameters became zero which could lead
to a crash

many thanks to expntly for finding this bug!
This commit is contained in:
Andrew Tridgell 2016-10-13 22:08:13 +11:00
parent 412dca1615
commit 70265f9100
2 changed files with 15 additions and 0 deletions
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12
ArduPlane/tuning.cpp
View File

@ -239,6 +239,18 @@ void AP_Tuning_Plane::set_value(uint8_t parm, float value)
default:
AP_Float *f = get_param_pointer(parm);
if (f != nullptr) {
uint64_t param_bit = (1ULL << parm);
if (!(param_bit & have_set)) {
// first time this param has been set by tuning. We
// need to see if a reversion value is available in
// FRAM, and if not then save one
float current_value = f->get();
if (!f->load()) {
// there is no value in FRAM, set one
f->set_and_save(current_value);
}
have_set |= param_bit;
}
f->set_and_notify(value);
}
break;

3
ArduPlane/tuning.h
View File

@ -97,4 +97,7 @@ private:
static const uint8_t tuning_set_ang_roll_pitch[];
static const uint8_t tuning_set_vxy[];
static const uint8_t tuning_set_az[];
// mask of what params have been set
uint64_t have_set;
};