forked from Archive/PX4-Autopilot
commander: remove param autosave
This commit is contained in:
Beat Küng
Lorenz Meier
parent
f179049e95
commit
7c43689ddc
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@ -169,7 +169,6 @@ static bool commander_initialized = false;
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static volatile bool thread_should_exit = false; /**< daemon exit flag */
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static volatile bool thread_running = false; /**< daemon status flag */
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static int daemon_task; /**< Handle of daemon task / thread */
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static bool need_param_autosave = false; /**< Flag set to true if parameters should be autosaved in next iteration (happens on param update and if functionality is enabled) */
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static bool _usb_telemetry_active = false;
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static hrt_abstime commander_boot_timestamp = 0;
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@ -1298,7 +1297,6 @@ int commander_thread_main(int argc, char *argv[])
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param_t _param_ef_current2throttle_thres = param_find("COM_EF_C2T");
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param_t _param_ef_time_thres = param_find("COM_EF_TIME");
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param_t _param_autostart_id = param_find("SYS_AUTOSTART");
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param_t _param_autosave_params = param_find("COM_AUTOS_PAR");
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param_t _param_rc_in_off = param_find("COM_RC_IN_MODE");
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param_t _param_rc_arm_hyst = param_find("COM_RC_ARM_HYST");
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param_t _param_min_stick_change = param_find("COM_RC_STICK_OV");
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@ -1700,8 +1698,6 @@ int commander_thread_main(int argc, char *argv[])
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int32_t ef_time_thres = 1000.0f;
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uint64_t timestamp_engine_healthy = 0; /**< absolute time when engine was healty */
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int autosave_params; /**< Autosave of parameters enabled/disabled, loaded from parameter */
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int32_t disarm_when_landed = 0;
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int32_t low_bat_action = 0;
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@ -1809,9 +1805,6 @@ int commander_thread_main(int argc, char *argv[])
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/* Autostart id */
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param_get(_param_autostart_id, &autostart_id);
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/* Parameter autosave setting */
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param_get(_param_autosave_params, &autosave_params);
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/* EPH / EPV */
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param_get(_param_eph, &eph_threshold);
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param_get(_param_epv, &epv_threshold);
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@ -1837,12 +1830,6 @@ int commander_thread_main(int argc, char *argv[])
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param_get(_param_max_imu_gyr_diff, &max_imu_gyr_diff);
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param_init_forced = false;
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/* Set flag to autosave parameters if necessary */
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if (updated && autosave_params != 0 && param_changed.saved == false) {
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/* trigger an autosave */
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need_param_autosave = true;
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}
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}
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orb_check(sp_man_sub, &updated);
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@ -4013,9 +4000,6 @@ void *commander_low_prio_loop(void *arg)
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struct vehicle_command_ack_s command_ack;
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memset(&command_ack, 0, sizeof(command_ack));
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/* timeout for param autosave */
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hrt_abstime need_param_autosave_timeout = 0;
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/* wakeup source(s) */
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px4_pollfd_struct_t fds[1];
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@ -4027,30 +4011,11 @@ void *commander_low_prio_loop(void *arg)
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/* wait for up to 1000ms for data */
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int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 1000);
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/* timed out - periodic check for thread_should_exit, etc. */
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if (pret == 0) {
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/* trigger a param autosave if required */
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if (need_param_autosave) {
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if (need_param_autosave_timeout > 0 && hrt_elapsed_time(&need_param_autosave_timeout) > 200000ULL) {
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int ret = param_save_default();
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if (ret != OK) {
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mavlink_log_critical(&mavlink_log_pub, "settings auto save error");
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} else {
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PX4_DEBUG("commander: settings saved.");
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}
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need_param_autosave = false;
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need_param_autosave_timeout = 0;
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} else {
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need_param_autosave_timeout = hrt_absolute_time();
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}
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}
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} else if (pret < 0) {
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/* this is undesirable but not much we can do - might want to flag unhappy status */
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if (pret < 0) {
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/* this is undesirable but not much we can do - might want to flag unhappy status */
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warn("commander: poll error %d, %d", pret, errno);
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continue;
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} else {
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} else if (pret != 0) {
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/* if we reach here, we have a valid command */
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orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd);
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@ -4258,11 +4223,6 @@ void *commander_low_prio_loop(void *arg)
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int ret = param_save_default();
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if (ret == OK) {
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if (need_param_autosave) {
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need_param_autosave = false;
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need_param_autosave_timeout = 0;
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}
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/* do not spam MAVLink, but provide the answer / green led mechanism */
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answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED, command_ack_pub, command_ack);
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@ -221,18 +221,6 @@ PARAM_DEFINE_FLOAT(COM_HOME_H_T, 5.0f);
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*/
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PARAM_DEFINE_FLOAT(COM_HOME_V_T, 10.0f);
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/**
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* Autosaving of params
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*
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* If not equal to zero the commander will automatically save parameters to persistent storage once changed.
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* Default is on, as the interoperability with currently deployed GCS solutions depends on parameters
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* being sticky. Developers can default it to off.
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*
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* @group Commander
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* @boolean
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*/
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PARAM_DEFINE_INT32(COM_AUTOS_PAR, 1);
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/**
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* RC control input mode
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*
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