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AP_HAL_ChibiOS: Capture the case where the persistent parameter is the newer format INSn_ACC_ID 

This fixes the handling of the newer INSn_* parameters when loading those stored in persistent memory.
This commit is contained in:
James O'Shannessy 2024-07-17 17:37:39 +10:00 committed by Andrew Tridgell
parent c771440ea4
commit ce0ae33c5b
1 changed files with 5 additions and 2 deletions
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7
libraries/AP_HAL_ChibiOS/Util.cpp
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@ -641,8 +641,11 @@ void Util::apply_persistent_params(void) const
been done by whether the IDs are configured in been done by whether the IDs are configured in
storage storage
*/ */
if (strncmp(pname, "INS_ACC", 7) == 0 && bool legacy_acc_id = strncmp(pname, "INS_ACC", 7) == 0 &&
strcmp(pname+strlen(pname)-3, "_ID") == 0) { strcmp(pname+strlen(pname)-3, "_ID") == 0;
bool new_acc_id = strncmp(pname, "INS", 3) == 0 &&
strcmp(pname+strlen(pname)-6, "ACC_ID") == 0;
if (legacy_acc_id || new_acc_id) {
enum ap_var_type ptype; enum ap_var_type ptype;
AP_Int32 *ap = (AP_Int32 *)AP_Param::find(pname, &ptype); AP_Int32 *ap = (AP_Int32 *)AP_Param::find(pname, &ptype);
if (ap && ptype == AP_PARAM_INT32) { if (ap && ptype == AP_PARAM_INT32) {