mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-22 14:24:21 +08:00
parameters: open export files O_TRUNC to discard previous data
- rcS parameter backup try to directly restore param (FRAM) from backup (in case SD card is removed before successful export) - rcS parameter backup logging rearrange to capture more logging output (param_import_fail.txt) - posix rcS try to keep param backup and restore roughly in sync with NuttX rcS - tinybson fix debug printf format - param_export_internal ensure file descriptor positioned at 0 (precaution)
This commit is contained in:
Daniel Agar
@@ -7,7 +7,7 @@ param set-default IMU_INTEG_RATE 250
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if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" ]; then
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if ! simulator_sih start; then
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echo "ERROR [init] simulator_sih failed to start"
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echo "ERROR [init] simulator_sih failed to start"
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exit 1
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fi
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@@ -46,7 +46,7 @@ elif [ "$PX4_SIMULATOR" = "ignition" ]; then
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sensor_gps_sim start
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sensor_mag_sim start
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else
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echo "ERROR [init] ign gazebo failed to start"
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echo "ERROR [init] ign gazebo failed to start"
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exit 1
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fi
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else
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@@ -61,7 +61,7 @@ elif [ "$PX4_SIMULATOR" = "ignition" ]; then
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sensor_gps_sim start
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sensor_mag_sim start
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else
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echo "ERROR [init] ign gazebo failed to start"
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echo "ERROR [init] ign gazebo failed to start"
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exit 1
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fi
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@@ -52,7 +52,7 @@ then
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# shellcheck disable=SC2012
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REQUESTED_AUTOSTART=$(ls "${R}etc/init.d-posix/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
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if [ -z "$REQUESTED_AUTOSTART" ]; then
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echo "ERROR [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
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echo "ERROR [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
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exit 1
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else
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SYS_AUTOSTART=$REQUESTED_AUTOSTART
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@@ -62,18 +62,46 @@ fi
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# Load parameters
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set PARAM_FILE parameters.bson
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param select $PARAM_FILE
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set PARAM_BACKUP_FILE parameters_backup.bson
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if [ -f $PARAM_FILE ]
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then
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if param load
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param select $PARAM_FILE
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if [ -f $PARAM_FILE ]; then
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set +e # disable exit on error control for param import
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if ! param import
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then
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echo "[param] Loaded: $PARAM_FILE"
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else
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echo "[param] FAILED loading $PARAM_FILE"
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echo "ERROR [init] param import failed"
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param dump $PARAM_FILE
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# try to make a backup copy
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cp $PARAM_FILE param_import_fail.bson
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# try importing from backup file
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if [ -f $PARAM_BACKUP_FILE ]
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then
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echo "[init] importing from parameter backup"
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# dump current backup file contents for comparison
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param dump $PARAM_BACKUP_FILE
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param import $PARAM_BACKUP_FILE
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# overwrite invalid $PARAM_FILE with backup
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cp $PARAM_BACKUP_FILE $PARAM_FILE
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fi
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param status
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fi
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set -e # restore exit on error control
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elif [ -f $PARAM_BACKUP_FILE ]; then
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echo "ERROR [init] primary param file $PARAM_FILE unavailable, using backup $PARAM_BACKUP_FILE"
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param import $PARAM_BACKUP_FILE
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fi
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param select-backup $PARAM_BACKUP_FILE
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# exit early when the minimal shell is requested
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[ $RUN_MINIMAL_SHELL = yes ] && exit 0
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@@ -28,6 +28,7 @@ set IOFW "/etc/extras/px4_io-v2_default.bin"
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set LOGGER_ARGS ""
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set LOGGER_BUF 8
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set PARAM_FILE ""
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set PARAM_BACKUP_FILE ""
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set RC_INPUT_ARGS ""
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set SDCARD_AVAILABLE no
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set SDCARD_EXT_PATH /fs/microsd/ext_autostart
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@@ -93,6 +94,7 @@ then
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fi
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set PARAM_FILE /fs/microsd/params
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set PARAM_BACKUP_FILE "/fs/microsd/parameters_backup.bson"
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fi
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#
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@@ -132,27 +134,32 @@ else
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if [ -d "/fs/microsd" ]
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then
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dmesg >> /fs/microsd/param_import_fail.txt &
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# try to make a backup copy
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cp $PARAM_FILE /fs/microsd/param_import_fail.bson &
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fi
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cp $PARAM_FILE /fs/microsd/param_import_fail.bson
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# try importing from backup file
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if [ -f "/fs/microsd/parameters_backup.bson" ]
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then
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echo "[init] importing from parameter backup"
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# try importing from backup file
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if [ -f $PARAM_BACKUP_FILE ]
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then
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echo "[init] importing from parameter backup"
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# dump current backup file contents for comparison
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param dump /fs/microsd/parameters_backup.bson
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# dump current backup file contents for comparison
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param dump $PARAM_BACKUP_FILE
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param import /fs/microsd/parameters_backup.bson
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param import $PARAM_BACKUP_FILE
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# overwrite invalid $PARAM_FILE with backup
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cp $PARAM_BACKUP_FILE $PARAM_FILE
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fi
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param status
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dmesg >> /fs/microsd/param_import_fail.txt &
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fi
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fi
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if [ $SDCARD_AVAILABLE = yes ]
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then
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param select-backup /fs/microsd/parameters_backup.bson
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param select-backup $PARAM_BACKUP_FILE
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fi
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if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X
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@@ -534,6 +541,7 @@ unset IOFW
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unset LOGGER_ARGS
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unset LOGGER_BUF
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unset PARAM_FILE
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unset PARAM_BACKUP_FILE
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unset RC_INPUT_ARGS
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unset SDCARD_AVAILABLE
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unset SDCARD_EXT_PATH
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