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fix(external modes): instantiate params at init
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This commit is contained in:
alexcekay
2026-07-30 16:46:21 +02:00
committed by Alexander Lerach
parent 187e820d68
commit 643d2f5499
2 changed files with 15 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/ModeManagement.cpp
+12 -6
View File
@@ -82,6 +82,16 @@ void ModeExecutors::printStatus(int executor_in_charge) const
}
}
Modes::Modes()
{
char hash_param_name[17];
for (int i = 0; i < MAX_NUM; i++) {
snprintf(hash_param_name, sizeof(hash_param_name), "COM_MODE%d_HASH", i);
_mode_hash_handles[i] = param_find(hash_param_name);
}
}
bool Modes::hasFreeExternalModes() const
{
for (int i = 0; i < MAX_NUM; ++i) {
@@ -108,9 +118,7 @@ uint8_t Modes::addExternalMode(const Modes::Mode &mode)
int matching_idx = -1;
for (int i = 0; i < MAX_NUM; ++i) {
char hash_param_name[17];
snprintf(hash_param_name, sizeof(hash_param_name), "COM_MODE%d_HASH", i);
const param_t handle = param_find(hash_param_name);
const param_t handle = _mode_hash_handles[i];
int32_t current_hash{};
if (handle != PARAM_INVALID && param_get(handle, &current_hash) == 0) {
@@ -165,9 +173,7 @@ uint8_t Modes::addExternalMode(const Modes::Mode &mode)
if (new_mode_idx != -1 && !_modes[new_mode_idx].valid) {
if (need_to_update_param) {
char hash_param_name[17];
snprintf(hash_param_name, sizeof(hash_param_name), "COM_MODE%d_HASH", new_mode_idx);
const param_t handle = param_find(hash_param_name);
const param_t handle = _mode_hash_handles[new_mode_idx];
if (handle != PARAM_INVALID) {
param_set_no_notification(handle, &mode_name_hash);
src/modules/commander/ModeManagement.hpp
+3
View File
@@ -102,6 +102,8 @@ public:
mode_util::SetpointType current_setpoint_type{kDefaultSetpointType};
};
Modes();
void printStatus() const;
bool valid(uint8_t nav_state) const { return nav_state >= FIRST_EXTERNAL_NAV_STATE && nav_state <= LAST_EXTERNAL_NAV_STATE && _modes[nav_state - FIRST_EXTERNAL_NAV_STATE].valid; }
@@ -114,6 +116,7 @@ public:
private:
Mode _modes[MAX_NUM] {};
param_t _mode_hash_handles[MAX_NUM];
};