feat(params): add board-level read-only parameter support (#26522)

Integrators can declare read-only parameters in a per-board YAML file:
readonly_params.yaml.

There are two ways to define the read-only params:
- "block": default writable, explicitly list params to be locked
- "allow": default readonly, explicitly list params to be writable

Enforcement is activated by `param lock` in rcS after all startup
scripts have run, so board defaults and airframe scripts can still set
params during init.

The feedback via MAVLink uses the new
MAV_PARAM_ERROR_READ_ONLY as part of the PARAM_ERROR message.

src/lib/parameters/CMakeLists.txt

@@ -98,6 +98,16 @@ add_custom_command(OUTPUT ${generated_serial_params_file} ${generated_module_par
 	COMMENT "Generating serial_params.c"
 )
 
+# readonly params config (used by both px_process_params.py and px_generate_params.py)
+set(READONLY_PARAMS_CONFIG "${PX4_BOARD_DIR}/readonly_params.yaml")
+if(EXISTS ${READONLY_PARAMS_CONFIG})
+	set(READONLY_PARAMS_ARG "--readonly-config" "${READONLY_PARAMS_CONFIG}")
+	set(READONLY_PARAMS_DEPEND "${READONLY_PARAMS_CONFIG}")
+else()
+	set(READONLY_PARAMS_ARG "")
+	set(READONLY_PARAMS_DEPEND "")
+endif()
+
 set(parameters_xml ${PX4_BINARY_DIR}/parameters.xml)
 set(parameters_json ${PX4_BINARY_DIR}/parameters.json)
 add_custom_command(OUTPUT ${parameters_xml} ${parameters_json} ${parameters_json}.xz
@@ -108,6 +118,7 @@ add_custom_command(OUTPUT ${parameters_xml} ${parameters_json} ${parameters_json
 		--compress
 		--overrides ${PARAM_DEFAULT_OVERRIDES}
 		--board ${PX4_BOARD}
+		${READONLY_PARAMS_ARG}
 		#--verbose
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/validate_json.py
 		--schema-file ${PX4_SOURCE_DIR}/src/modules/mavlink/mavlink/component_information/parameter.schema.json
@@ -117,21 +128,26 @@ add_custom_command(OUTPUT ${parameters_xml} ${parameters_json} ${parameters_json
 	DEPENDS
 		${generated_serial_params_file}
 		${generated_module_params_file}
+		${READONLY_PARAMS_DEPEND}
 		px4params/srcparser.py
 		px4params/srcscanner.py
 		px4params/jsonout.py
 		px4params/xmlout.py
+		px4params/readonly_config.py
 		px_process_params.py
 	COMMENT "Generating parameters.xml"
 )
 add_custom_target(parameters_xml DEPENDS ${parameters_xml})
 
 # generate px4_parameters.hpp
+
 add_custom_command(OUTPUT px4_parameters.hpp
 	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/px_generate_params.py
 		--xml ${parameters_xml} --dest ${CMAKE_CURRENT_BINARY_DIR}
+		${READONLY_PARAMS_ARG}
 	DEPENDS
 		${PX4_BINARY_DIR}/parameters.xml
+		${READONLY_PARAMS_DEPEND}
 		px_generate_params.py
 		templates/px4_parameters.hpp.jinja
 	)

src/lib/parameters/param.h

@@ -175,6 +175,23 @@ __EXPORT const char	*param_name(param_t param);
  */
 __EXPORT bool		param_is_volatile(param_t param);
 
+/**
+ * Obtain the read-only state of a parameter.
+ *
+ * @param param		A handle returned by param_find or passed by param_foreach.
+ * @return			true if the parameter is read-only
+ */
+__EXPORT bool		param_is_readonly(param_t param);
+
+/**
+ * Lock all read-only parameters.
+ *
+ * Before this call, read-only parameters can be freely modified (e.g. by
+ * startup scripts).  After this call, any attempt to set, set-default, or
+ * reset a read-only parameter will be rejected.
+ */
+__EXPORT void		param_lock_readonly(void);
+
 /**
  * Test whether a parameter's value has changed from the default.
  *

src/lib/parameters/parameters.cpp

@@ -413,6 +413,11 @@ param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_
 		return PX4_ERROR;
 	}
 
+	if (param_is_readonly(param)) {
+		PX4_WARN("param %s is read-only", param_name(param));
+		return PX4_ERROR;
+	}
+
 	int result = -1;
 	bool param_changed = false;
 	perf_begin(param_set_perf);
@@ -544,6 +549,11 @@ int param_set_default_value(param_t param, const void *val)
 		return PX4_ERROR;
 	}
 
+	if (param_is_readonly(param)) {
+		PX4_WARN("param %s is read-only", param_name(param));
+		return PX4_ERROR;
+	}
+
 	int result = PX4_ERROR;
 
 
@@ -615,6 +625,10 @@ static int param_reset_internal(param_t param, bool notify = true, bool autosave
 	return false;
 #endif
 
+	if (param_is_readonly(param)) {
+		return 0;  // silently skip — param_reset_all loops over all params
+	}
+
 	bool param_found = user_config.contains(param);
 
 	if (handle_in_range(param)) {

src/lib/parameters/parameters_common.cpp

@@ -96,6 +96,26 @@ bool param_is_volatile(param_t param)
 	return false;
 }
 
+static bool params_locked = false;
+
+bool param_is_readonly(param_t param)
+{
+	if (params_locked && handle_in_range(param)) {
+		for (const auto &p : px4::parameters_readonly) {
+			if (static_cast<px4::params>(param) == p) {
+				return true;
+			}
+		}
+	}
+
+	return false;
+}
+
+void param_lock_readonly()
+{
+	params_locked = true;
+}
+
 size_t param_size(param_t param)
 {
 	if (handle_in_range(param)) {

src/lib/parameters/px4params/jsonout.py

@@ -82,6 +82,8 @@ class JsonOutput():
 
                     if param.GetVolatile():
                         curr_param['volatile'] = True
+                    if param.GetReadonly():
+                        curr_param['readOnly'] = True
 
                     last_param_name = param.GetName()
                     for code in param.GetFieldCodes():

src/lib/parameters/px4params/markdownout.py

@@ -104,7 +104,8 @@ If a listed parameter is missing from the Firmware see: [Finding/Updating Parame
                 if bitmask_list:
                     result += bitmask_output
                 # Format the ranges as a table.
-                result += f"Reboot | minValue | maxValue | increment | default | unit\n--- | --- | --- | --- | --- | ---\n{'✓' if reboot_required else ' ' } | {min_val} | {max_val} | {increment} | {def_val} | {unit} | \n\n"
+                is_readonly = param.GetReadonly()
+                result += f"Reboot | minValue | maxValue | increment | default | unit | Read-Only\n--- | --- | --- | --- | --- | --- | ---\n{'✓' if reboot_required else ' ' } | {min_val} | {max_val} | {increment} | {def_val} | {unit} | {'✓' if is_readonly else ' '}\n\n"
 
         self.output = result
 

src/lib/parameters/px4params/readonly_config.py

@@ -0,0 +1,48 @@
+"""
+Shared helper to load readonly parameter configuration from YAML.
+"""
+import sys
+
+try:
+    import yaml
+except ImportError as e:
+    print("Failed to import yaml: " + str(e))
+    print("")
+    print("You may need to install it using:")
+    print("    pip3 install --user pyyaml")
+    print("")
+    sys.exit(1)
+
+
+def load_readonly_params(readonly_config, all_param_names):
+    """
+    Load readonly parameter config and return the set of readonly param names.
+
+    @param readonly_config: path to readonly_params.yaml
+    @param all_param_names: set of all known parameter names
+    @return: set of readonly parameter names
+    """
+    if readonly_config is None:
+        return set()
+
+    with open(readonly_config, 'r') as f:
+        config = yaml.safe_load(f)
+
+    mode = config.get('mode', 'block')
+    listed_params = set(config.get('parameters', []))
+
+    # Validate that all listed parameters actually exist
+    unknown = listed_params - all_param_names
+    if unknown:
+        print("Error: readonly_params.yaml lists unknown parameters: %s" % ', '.join(sorted(unknown)))
+        sys.exit(1)
+
+    if mode == 'block':
+        # Listed params are read-only
+        return listed_params
+    elif mode == 'allow':
+        # Only listed params are writable, all others are read-only
+        return all_param_names - listed_params
+    else:
+        print("Error: readonly_params.yaml has unknown mode '%s' (expected 'block' or 'allow')" % mode)
+        sys.exit(1)

src/lib/parameters/px4params/srcparser.py

@@ -61,6 +61,7 @@ class Parameter(object):
         self.category = ""
         self.volatile = False
         self.boolean = False
+        self.readonly = False
 
     def GetName(self):
         return self.name
@@ -80,6 +81,9 @@ class Parameter(object):
     def GetBoolean(self):
         return self.boolean
 
+    def GetReadonly(self):
+        return self.readonly
+
     def SetField(self, code, value):
         """
         Set named field value
@@ -110,6 +114,12 @@ class Parameter(object):
         """
         self.boolean = True
 
+    def SetReadonly(self):
+        """
+        Set readonly flag
+        """
+        self.readonly = True
+
     def SetCategory(self, category):
         """
         Set param category

src/lib/parameters/px4params/xmlout.py

@@ -43,6 +43,8 @@ class XMLOutput():
                         xml_param.attrib["volatile"] = "true"
                     if param.GetBoolean():
                         xml_param.attrib["boolean"] = "true"
+                    if param.GetReadonly():
+                        xml_param.attrib["readonly"] = "true"
                     if (param.GetCategory()):
                         xml_param.attrib["category"] = param.GetCategory()
                     last_param_name = param.GetName()

src/lib/parameters/px_generate_params.py

@@ -18,13 +18,15 @@ except ImportError as e:
     sys.exit(1)
 
 import os
+from px4params.readonly_config import load_readonly_params
 
-def generate(xml_file, dest='.'):
+def generate(xml_file, dest='.', readonly_config=None):
     """
     Generate px4 param source from xml.
 
     @param xml_file: input parameter xml file
     @param dest: Destination directory for generated files
+    @param readonly_config: path to readonly_params.yaml (optional)
         None means to scan everything.
     """
     # pylint: disable=broad-except
@@ -39,6 +41,9 @@ def generate(xml_file, dest='.'):
 
     params = sorted(params, key=lambda name: name.attrib["name"])
 
+    all_param_names = set(p.attrib["name"] for p in params)
+    readonly_params = load_readonly_params(readonly_config, all_param_names)
+
     script_path = os.path.dirname(os.path.realpath(__file__))
 
     # for jinja docs see: http://jinja.pocoo.org/docs/2.9/api/
@@ -55,13 +60,14 @@ def generate(xml_file, dest='.'):
         template = env.get_template(template_file)
         with open(os.path.join(
                 dest, template_file.replace('.jinja','')), 'w') as fid:
-            fid.write(template.render(params=params))
+            fid.write(template.render(params=params, readonly_params=readonly_params))
 
 if __name__ == "__main__":
     arg_parser = argparse.ArgumentParser()
     arg_parser.add_argument("--xml", help="parameter xml file")
     arg_parser.add_argument("--dest", help="destination path", default=os.path.curdir)
+    arg_parser.add_argument("--readonly-config", help="path to readonly_params.yaml", default=None)
     args = arg_parser.parse_args()
-    generate(xml_file=args.xml, dest=args.dest)
+    generate(xml_file=args.xml, dest=args.dest, readonly_config=args.readonly_config)
 
 #  vim: set et fenc=utf-8 ff=unix sts=4 sw=4 ts=4 :

src/lib/parameters/px_process_params.py

@@ -47,7 +47,7 @@ from __future__ import print_function
 import sys
 import os
 import argparse
-from px4params import srcscanner, srcparser, injectxmlparams, xmlout, markdownout, jsonout
+from px4params import srcscanner, srcparser, injectxmlparams, xmlout, markdownout, jsonout, readonly_config
 
 import lzma #to create .xz file
 import json
@@ -102,6 +102,10 @@ def main():
                         default="{}",
                         metavar="OVERRIDES",
                         help="a dict of overrides in the form of a json string")
+    parser.add_argument("--readonly-config",
+                        default=None,
+                        metavar="FILENAME",
+                        help="path to readonly_params.yaml")
 
     args = parser.parse_args()
 
@@ -143,6 +147,18 @@ def main():
                     param.default = val
                     print("OVERRIDING {:s} to {:s}!!!!!".format(name, val))
 
+    # Mark readonly parameters
+    if args.readonly_config:
+        all_param_names = set()
+        for group in param_groups:
+            for param in group.GetParams():
+                all_param_names.add(param.GetName())
+        readonly_params = readonly_config.load_readonly_params(args.readonly_config, all_param_names)
+        for group in param_groups:
+            for param in group.GetParams():
+                if param.GetName() in readonly_params:
+                    param.SetReadonly()
+
     output_files = []
 
     # Output to XML file

src/lib/parameters/templates/px4_parameters.hpp.jinja

@@ -47,5 +47,13 @@ static constexpr params parameters_volatile[] = {
 {% endfor %}
 };
 
+static constexpr params parameters_readonly[] = {
+{% for param in params %}
+	{%- if param.attrib["name"] in readonly_params %}
+	params::{{ param.attrib["name"] }},
+	{%- endif -%}
+{% endfor %}
+};
+
 
 } // namespace px4

src/modules/mavlink/mavlink_parameters.cpp

@@ -226,6 +226,9 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
 					PX4_ERR("param types mismatch param: %s", name);
 					send_error(MAV_PARAM_ERROR_TYPE_MISMATCH, name, -1, msg->sysid, msg->compid);
 
+				} else if (param_is_readonly(param)) {
+					PX4_WARN("param %s is read-only", name);
+					send_error(MAV_PARAM_ERROR_READ_ONLY, name, -1, msg->sysid, msg->compid);
 
 				} else {
 					// According to the mavlink spec we should always acknowledge a write operation.

src/systemcmds/param/param.cpp

@@ -81,6 +81,7 @@ static int	do_import(const char *param_file_name = nullptr);
 static int	do_show(const char *search_string, bool only_changed);
 static int	do_show_for_airframe();
 static int	do_show_all();
+static int	do_show_locked();
 static int	do_show_quiet(const char *param_name);
 static int	do_show_index(const char *index, bool used_index);
 static void	do_show_print(void *arg, param_t param);
@@ -138,6 +139,7 @@ $ reboot
 	PRINT_MODULE_USAGE_COMMAND_DESCR("show", "Show parameter values");
 	PRINT_MODULE_USAGE_PARAM_FLAG('a', "Show all parameters (not just used)", true);
 	PRINT_MODULE_USAGE_PARAM_FLAG('c', "Show only changed params (unused too)", true);
+	PRINT_MODULE_USAGE_PARAM_FLAG('l', "Show only locked (read-only) params", true);
 	PRINT_MODULE_USAGE_PARAM_FLAG('q', "quiet mode, print only param value (name needs to be exact)", true);
 	PRINT_MODULE_USAGE_ARG("<filter>", "Filter by param name (wildcard at end allowed, eg. sys_*)", true);
 
@@ -179,6 +181,8 @@ $ reboot
 	PRINT_MODULE_USAGE_ARG("<index>", "Index: an integer >= 0", false);
 	PRINT_MODULE_USAGE_COMMAND_DESCR("find", "Show index of a param");
 	PRINT_MODULE_USAGE_ARG("<param>", "param name", false);
+
+	PRINT_MODULE_USAGE_COMMAND_DESCR("lock", "Lock read-only params (reject future set/reset)");
 }
 
 int
@@ -268,6 +272,9 @@ param_main(int argc, char *argv[])
 				} else if (!strcmp(argv[2], "-a")) {
 					return do_show_all();
 
+				} else if (!strcmp(argv[2], "-l")) {
+					return do_show_locked();
+
 				} else if (!strcmp(argv[2], "-q")) {
 					if (argc >= 4) {
 						return do_show_quiet(argv[3]);
@@ -405,6 +412,11 @@ param_main(int argc, char *argv[])
 				return 1;
 			}
 		}
+
+		if (!strcmp(argv[1], "lock")) {
+			param_lock_readonly();
+			return 0;
+		}
 	}
 
 	print_usage();
@@ -508,7 +520,7 @@ do_save_default()
 static int
 do_show(const char *search_string, bool only_changed)
 {
-	PX4_INFO_RAW("Symbols: x = used, + = saved, * = unsaved\n");
+	PX4_INFO_RAW("Symbols: x = used, + = saved, * = unsaved, l = locked\n");
 	// also show unused params if we show non-default values only
 	param_foreach(do_show_print, (char *)search_string, only_changed, !only_changed);
 	PX4_INFO_RAW("\n %u/%u parameters used.\n", param_count_used(), param_count());
@@ -531,13 +543,30 @@ do_show_for_airframe()
 static int
 do_show_all()
 {
-	PX4_INFO_RAW("Symbols: x = used, + = saved, * = unsaved\n");
+	PX4_INFO_RAW("Symbols: x = used, + = saved, * = unsaved, l = locked\n");
 	param_foreach(do_show_print, nullptr, false, false);
 	PX4_INFO_RAW("\n %u parameters total, %u used.\n", param_count(), param_count_used());
 
 	return 0;
 }
 
+static void
+do_show_print_locked(void *arg, param_t param)
+{
+	if (param_is_readonly(param)) {
+		do_show_print(arg, param);
+	}
+}
+
+static int
+do_show_locked()
+{
+	PX4_INFO_RAW("Symbols: x = used, + = saved, * = unsaved, l = locked\n");
+	param_foreach(do_show_print_locked, nullptr, false, false);
+
+	return 0;
+}
+
 static int
 do_show_quiet(const char *param_name)
 {
@@ -607,8 +636,9 @@ do_show_index(const char *index, bool used_index)
 		return 1;
 	}
 
-	PX4_INFO_RAW("index %d: %c %c %s [%d,%d] : ", i, (param_used(param) ? 'x' : ' '),
+	PX4_INFO_RAW("index %d: %c %c %c %s [%d,%d] : ", i, (param_used(param) ? 'x' : ' '),
 		    param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
+		    param_is_readonly(param) ? 'l' : ' ',
 		    param_name(param), param_get_used_index(param), param_get_index(param));
 
 	switch (param_type(param)) {
@@ -677,8 +707,9 @@ do_show_print(void *arg, param_t param)
 		}
 	}
 
-	PX4_INFO_RAW("%c %c %s [%d,%d] : ", (param_used(param) ? 'x' : ' '),
+	PX4_INFO_RAW("%c %c %c %s [%d,%d] : ", (param_used(param) ? 'x' : ' '),
 		    param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
+		    param_is_readonly(param) ? 'l' : ' ',
 		    param_name(param), param_get_used_index(param), param_get_index(param));
 
 	/*
@@ -771,6 +802,11 @@ do_set(const char *name, const char *val, bool fail_on_not_found)
 		return (fail_on_not_found) ? 1 : 0;
 	}
 
+	if (param_is_readonly(param)) {
+		PX4_ERR("Parameter %s is read-only.", name);
+		return 1;
+	}
+
 	/*
 	 * Set parameter if type is known and conversion from string to value turns out fine
 	 */
@@ -838,6 +874,14 @@ do_set_custom_default(const char *name, const char *val, bool silent_fail)
 		return PX4_ERROR;
 	}
 
+	if (param_is_readonly(param)) {
+		if (!silent_fail) {
+			PX4_ERR("Parameter %s is read-only.", name);
+		}
+
+		return PX4_ERROR;
+	}
+
 	// Set parameter if type is known and conversion from string to value turns out fine
 	switch (param_type(param)) {
 	case PARAM_TYPE_INT32: {