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AP_Mount: Only save converted mount if mount was previously set in the first place 

The mount library force configures the mount type on conversion, even if the mount was never configured in the first place
This commit is contained in:
James O'Shannessy 2024-05-21 09:32:22 +10:00 committed by Andrew Tridgell
parent 5fd4e23fa9
commit a5e11911fc
1 changed files with 6 additions and 2 deletions
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8
libraries/AP_Mount/AP_Mount.cpp
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@ -1015,7 +1015,10 @@ void AP_Mount::convert_params()
// convert MNT_TYPE to MNT1_TYPE
int8_t mnt_type = 0;
IGNORE_RETURN(AP_Param::get_param_by_index(this, 19, AP_PARAM_INT8, &mnt_type));
if (mnt_type > 0) {
if (mnt_type == 0) {
// if the mount was not previously set, no need to perform the upgrade logic
return;
} else if (mnt_type > 0) {
int8_t stab_roll = 0;
int8_t stab_pitch = 0;
IGNORE_RETURN(AP_Param::get_param_by_index(this, 4, AP_PARAM_INT8, &stab_roll));
@ -1025,8 +1028,9 @@ void AP_Mount::convert_params()
// conversion is still done even if HAL_MOUNT_SERVO_ENABLED is false
mnt_type = 7; // (int8_t)Type::BrushlessPWM;
}
// if the mount was previously set, then we need to save the upgraded mount type
_params[0].type.set_and_save(mnt_type);
}
_params[0].type.set_and_save(mnt_type);
// convert MNT_JSTICK_SPD to MNT1_RC_RATE
int8_t jstick_spd = 0;