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AP_Param: allow save_sync without send

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This commit is contained in:
Andrew Tridgell 2021-04-08 15:35:54 +10:00
parent 5a7ee5a376
commit 0b948d3faf
2 changed files with 15 additions and 7 deletions
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20
libraries/AP_Param/AP_Param.cpp
View File

@ -1097,7 +1097,7 @@ void AP_Param::notify() const {
/*
Save the variable to HAL storage, synchronous version
*/
void AP_Param::save_sync(bool force_save)
void AP_Param::save_sync(bool force_save, bool send_to_gcs)
{
uint32_t group_element = 0;
const struct GroupInfo *ginfo;
@ -1144,7 +1144,9 @@ void AP_Param::save_sync(bool force_save)
if (scan(&phdr, &ofs)) {
// found an existing copy of the variable
eeprom_write_check(ap, ofs+sizeof(phdr), type_size((enum ap_var_type)phdr.type));
send_parameter(name, (enum ap_var_type)phdr.type, idx);
if (send_to_gcs) {
send_parameter(name, (enum ap_var_type)phdr.type, idx);
}
return;
}
if (ofs == (uint16_t) ~0) {
@ -1161,7 +1163,9 @@ void AP_Param::save_sync(bool force_save)
v2 = get_default_value(this, &info->def_value);
}
if (is_equal(v1,v2) && !force_save) {
GCS_SEND_PARAM(name, (enum ap_var_type)info->type, v2);
if (send_to_gcs) {
GCS_SEND_PARAM(name, (enum ap_var_type)info->type, v2);
}
return;
}
if (!force_save &&
@ -1169,7 +1173,9 @@ void AP_Param::save_sync(bool force_save)
(fabsf(v1-v2) < 0.0001f*fabsf(v1)))) {
// for other than 32 bit integers, we accept values within
// 0.01 percent of the current value as being the same
GCS_SEND_PARAM(name, (enum ap_var_type)info->type, v2);
if (send_to_gcs) {
GCS_SEND_PARAM(name, (enum ap_var_type)info->type, v2);
}
return;
}
}
@ -1185,7 +1191,9 @@ void AP_Param::save_sync(bool force_save)
eeprom_write_check(ap, ofs+sizeof(phdr), type_size((enum ap_var_type)phdr.type));
eeprom_write_check(&phdr, ofs, sizeof(phdr));
send_parameter(name, (enum ap_var_type)phdr.type, idx);
if (send_to_gcs) {
send_parameter(name, (enum ap_var_type)phdr.type, idx);
}
}
/*
@ -1228,7 +1236,7 @@ void AP_Param::save_io_handler(void)
{
struct param_save p;
while (save_queue.pop(p)) {
p.param->save_sync(p.force_save);
p.param->save_sync(p.force_save, true);
}
if (hal.scheduler->is_system_initialized()) {
// pay the cost of parameter counting in the IO thread

2
libraries/AP_Param/AP_Param.h
View File

@ -355,7 +355,7 @@ public:
///
/// @return True if the variable was saved successfully.
///
void save_sync(bool force_save=false);
void save_sync(bool force_save, bool send_to_gcs);
/// flush all pending parameter saves
/// used on reboot