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add parameter to control autosave of parameters

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Thomas Gubler
2015-04-03 18:50:44 +02:00
committed by Lorenz Meier
parent f6f8d646d1
commit a872b69df1
2 changed files with 23 additions and 6 deletions
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src/modules/commander/commander.cpp
+13 -6
View File
@@ -156,7 +156,7 @@ enum MAV_MODE_FLAG {
/* Mavlink file descriptors */ /* Mavlink file descriptors */
static int mavlink_fd = 0; static int mavlink_fd = 0;
/* Syste autostart ID */ /* System autostart ID */
static int autostart_id; static int autostart_id;
/* flags */ /* flags */
@@ -822,6 +822,7 @@ int commander_thread_main(int argc, char *argv[])
param_t _param_ef_current2throttle_thres = param_find("COM_EF_C2T"); param_t _param_ef_current2throttle_thres = param_find("COM_EF_C2T");
param_t _param_ef_time_thres = param_find("COM_EF_TIME"); param_t _param_ef_time_thres = param_find("COM_EF_TIME");
param_t _param_autostart_id = param_find("SYS_AUTOSTART"); param_t _param_autostart_id = param_find("SYS_AUTOSTART");
param_t _param_autosave_params = param_find("COM_AUTOS_PAR");
const char *main_states_str[vehicle_status_s::MAIN_STATE_MAX]; const char *main_states_str[vehicle_status_s::MAIN_STATE_MAX];
main_states_str[vehicle_status_s::MAIN_STATE_MANUAL] = "MANUAL"; main_states_str[vehicle_status_s::MAIN_STATE_MANUAL] = "MANUAL";
@@ -1128,6 +1129,8 @@ int commander_thread_main(int argc, char *argv[])
int32_t ef_time_thres = 1000.0f; int32_t ef_time_thres = 1000.0f;
uint64_t timestamp_engine_healthy = 0; /**< absolute time when engine was healty */ uint64_t timestamp_engine_healthy = 0; /**< absolute time when engine was healty */
int autosave_params; /**< Autosave of parameters enabled/disabled, loaded from parameter */
/* check which state machines for changes, clear "changed" flag */ /* check which state machines for changes, clear "changed" flag */
bool arming_state_changed = false; bool arming_state_changed = false;
bool main_state_changed = false; bool main_state_changed = false;
@@ -1160,11 +1163,6 @@ int commander_thread_main(int argc, char *argv[])
/* update parameters */ /* update parameters */
orb_check(param_changed_sub, &updated); orb_check(param_changed_sub, &updated);
if (updated) {
/* trigger an autosave */
need_param_autosave = true;
}
if (updated || param_init_forced) { if (updated || param_init_forced) {
param_init_forced = false; param_init_forced = false;
@@ -1232,6 +1230,15 @@ int commander_thread_main(int argc, char *argv[])
/* Autostart id */ /* Autostart id */
param_get(_param_autostart_id, &autostart_id); param_get(_param_autostart_id, &autostart_id);
/* Parameter autosave setting */
param_get(_param_autosave_params, &autosave_params);
}
/* Set flag to autosave parameters if necessary */
if (updated && autosave_params != 0) {
/* trigger an autosave */
need_param_autosave = true;
} }
orb_check(sp_man_sub, &updated); orb_check(sp_man_sub, &updated);
src/modules/commander/commander_params.c
+10
View File
@@ -176,3 +176,13 @@ PARAM_DEFINE_FLOAT(COM_EF_TIME, 10.0f);
* @max 35 * @max 35
*/ */
PARAM_DEFINE_FLOAT(COM_RC_LOSS_T, 0.5); PARAM_DEFINE_FLOAT(COM_RC_LOSS_T, 0.5);
/** Autosaving of params
*
* If not equal to zero the commander will automatically save parameters to persistent storage once changed
*
* @group commander
* @min 0
* @max 1
*/
PARAM_DEFINE_INT32(COM_AUTOS_PAR, 0);