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autostart scripts: Reintroduce SYS_PARAM_VER (#22813)

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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
2024-06-18 09:32:51 +02:00
committed by GitHub
parent 54c8f9e8c9
commit 9c83f842be
3 changed files with 37 additions and 5 deletions
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ROMFS/px4fmu_common/init.d/rcS
+21 -5
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@@ -36,6 +36,12 @@ set SDCARD_FORMAT no
set STARTUP_TUNE 1
set VEHICLE_TYPE none
# Airframe parameter versioning
# Value set to 1 by default but can optionally be overridden in the airframe configuration startup script.
# Airframe maintainers can ensure a reset to the airframe defaults during an update by increasing by one.
# e.g. add line "set PARAM_DEFAULTS_VER 2" in your airframe file to build the first update that enfoces a reset.
set PARAM_DEFAULTS_VER 1
#
# Print full system version.
#
@@ -182,13 +188,11 @@ 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, sensor calibration, flight modes, total flight time, flight UUID
param reset_all SYS_AUTOSTART SYS_PARAM_VER RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT*
fi
#
@@ -233,6 +237,17 @@ 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).
@@ -598,6 +613,7 @@ 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