From 5a8acea0dd21d02795f11d2eef9b94843cfeba1a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 7 Dec 2020 09:37:43 +1100
Subject: [PATCH] AP_Param: fixed lockup in scripting due to save queue

this is a quick fix for a lockup in scripting due to the mission API
holding the scheduler semaphore when it is updating the mission count
parameter
---
 libraries/AP_Param/AP_Param.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_Param/AP_Param.cpp b/libraries/AP_Param/AP_Param.cpp
index 55e890b393..0d24543e46 100644
--- a/libraries/AP_Param/AP_Param.cpp
+++ b/libraries/AP_Param/AP_Param.cpp
@@ -1165,7 +1165,7 @@ void AP_Param::save(bool force_save)
     p.force_save = force_save;
     while (!save_queue.push(p)) {
         // if we can't save to the queue
-        if (hal.util->get_soft_armed()) {
+        if (hal.util->get_soft_armed() || !hal.scheduler->in_main_thread()) {
             // if we are armed then don't sleep, instead we lose the
             // parameter save
             return;