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autostart scripts: Reintroduce SYS_PARAM_VER 

The case where the airframe maintainer wants to enforce a reset to airframe is
not covered anymore with the `param set-default` mechanism. For products based
on PX4 this is still required to ensure proper functionality after a major update.
This commit is contained in:
Matthias Grob 2024-02-22 16:58:41 +01:00
parent 1ec0ba4736
commit d89a40e1b8
3 changed files with 34 additions and 5 deletions
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25
ROMFS/px4fmu_common/init.d/rcS
View File

@ -36,6 +36,11 @@ set SDCARD_FORMAT no
set STARTUP_TUNE 1
set VEHICLE_TYPE none
# Airframe parameter versioning: airframe maintainers can optionally set this in the
# airframe startup script, and then increase it by one whenever they want to ensure
# that parameters are reset to the airframe defaults for an update.
set PARAM_DEFAULTS_VER 1
#
# Print full system version.
#
@ -175,13 +180,11 @@ else
netman update -i eth0
fi
#
# If the airframe has been previously reset SYS_AUTCONFIG will have been set to 1 and other params will be reset on the next boot.
#
# To trigger a parameter reset during boot SYS_AUTCONFIG was set to 1 before
if param greater SYS_AUTOCONFIG 0
then
# Reset params except Airframe, RC calibration, sensor calibration, flight modes, total flight time, and next flight UUID.
param reset_all SYS_AUTOSTART RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT*
# Reset parameters except airframe, parameter version, RC calibration + flight modes, sensor + airspeed calibration, total flight time, flight UUID
param reset_all SYS_AUTOS* SYS_PA* RC* COM_FLTMODE* CAL_* ASPD_S* LND_FLIGHT* TC_* COM_FLIGHT*
fi
#
@ -226,6 +229,17 @@ else
fi
unset AUTOSTART_PATH
# Check parameter version and reset upon airframe configuration version mismatch
# reboot required because "param reset_all" would reset all "param set" lines from airframe
if ! param compare SYS_PARAM_VER ${PARAM_DEFAULTS_VER}
then
echo "Switched to different parameter version. Resetting parameters."
param set SYS_PARAM_VER ${PARAM_DEFAULTS_VER}
param set SYS_AUTOCONFIG 1
param save
reboot
fi
#
# Start the tone_alarm driver.
# Needs to be started after the parameters are loaded (for CBRK_BUZZER).
@ -556,6 +570,7 @@ unset LOGGER_ARGS
unset LOGGER_BUF
unset PARAM_FILE
unset PARAM_BACKUP_FILE
unset PARAM_DEFAULTS_VER
unset RC_INPUT_ARGS
unset SDCARD_AVAILABLE
unset SDCARD_EXT_PATH

13
src/lib/systemlib/system_params.c
View File

@ -97,6 +97,19 @@ PARAM_DEFINE_INT32(SYS_HITL, 0);
*/
PARAM_DEFINE_INT32(SYS_MC_EST_GROUP, 2);
/**
* Parameter version
*
* This is used internally only: an airframe configuration might set an expected
* parameter version value via PARAM_DEFAULTS_VER. This is checked on bootup
* against SYS_PARAM_VER, and if they do not match, parameters from the airframe
* configuration are reloaded.
*
* @min 0
* @group System
*/
PARAM_DEFINE_INT32(SYS_PARAM_VER, 1);
/**
* Enable auto start of rate gyro thermal calibration at the next power up.
*

1
src/modules/mavlink/mavlink_parameters.cpp
View File

@ -311,6 +311,7 @@ MavlinkParametersManager::send()
param_find("SENS_BOARD_Y_OFF");
param_find("SENS_BOARD_Z_OFF");
param_find("SENS_DPRES_OFF");
param_find("SYS_PARAM_VER");
param_find("TRIG_MODE");
param_find("UAVCAN_ENABLE");