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AP_OpenDroneID: ensure Persistent memory is not read continuously

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bugobliterator 2023-09-14 17:18:49 +10:00 committed by Andrew Tridgell
parent 54db689b0f
commit f95e16bca6
2 changed files with 5 additions and 3 deletions
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6
libraries/AP_OpenDroneID/AP_OpenDroneID.cpp
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@ -131,7 +131,7 @@ void AP_OpenDroneID::set_basic_id() {
if (pkt_basic_id.id_type != MAV_ODID_ID_TYPE_NONE) { if (pkt_basic_id.id_type != MAV_ODID_ID_TYPE_NONE) {
return; return;
} }
if (id_len == 0) { if ((id_len == 0) && (_options & LockUASIDOnFirstBasicIDRx)) {
load_UAS_ID_from_persistent_memory(); load_UAS_ID_from_persistent_memory();
} }
if (id_len > 0) { if (id_len > 0) {
@ -208,10 +208,12 @@ void AP_OpenDroneID::update()
if ((pkt_basic_id.id_type == MAV_ODID_ID_TYPE_SERIAL_NUMBER) if ((pkt_basic_id.id_type == MAV_ODID_ID_TYPE_SERIAL_NUMBER)
&& (_options & LockUASIDOnFirstBasicIDRx) && (_options & LockUASIDOnFirstBasicIDRx)
&& id_len == 0) { && id_len == 0
&& !bootloader_flashed) {
hal.util->flash_bootloader(); hal.util->flash_bootloader();
// reset the basic id on next set_basic_id call // reset the basic id on next set_basic_id call
pkt_basic_id.id_type = MAV_ODID_ID_TYPE_NONE; pkt_basic_id.id_type = MAV_ODID_ID_TYPE_NONE;
bootloader_flashed = true;
} }
set_basic_id(); set_basic_id();

2
libraries/AP_OpenDroneID/AP_OpenDroneID.h
View File

@ -117,7 +117,7 @@ private:
char id_type[3]; char id_type[3];
size_t id_len; size_t id_len;
char id_str[21]; char id_str[21];
bool bootloader_flashed;
enum Options : int16_t { enum Options : int16_t {
EnforceArming = (1U << 0U), EnforceArming = (1U << 0U),
AllowNonGPSPosition = (1U << 1U), AllowNonGPSPosition = (1U << 1U),