implemented reset excludes in systemcmd "param", updated autoconfig parameter doc

ROMFS/px4fmu_common/init.d/rcS

@@ -122,8 +122,8 @@ then
 	#
 	if param compare SYS_AUTOCONFIG 1
 	then
-		# Wipe out params
-		param reset_nostart
+		# Wipe out params except RC*
+		param reset_nostart RC*
 		set AUTOCNF yes
 	else
 		set AUTOCNF no

src/modules/systemlib/system_params.c

@@ -52,8 +52,9 @@ PARAM_DEFINE_INT32(SYS_AUTOSTART, 0);
 /**
  * Automatically configure default values.
  *
- * Set to 1 to set platform-specific parameters to their default
- * values on next system startup. 
+ * Set to 1 to reset parameters on next system startup (setting defaults).
+ * Platform-specific values are used if available.
+ * RC* parameters are preserved.
  *
  * @min 0
  * @max 1

src/systemcmds/param/param.c

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -33,7 +33,8 @@
 
 /**
  * @file param.c
- * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Lorenz Meier <lorenz@px4.io>
+ * @author Andreas Antener <andreas@uaventure.com>
  *
  * Parameter tool.
  */
@@ -62,10 +63,10 @@ static void	do_load(const char *param_file_name);
 static void	do_import(const char *param_file_name);
 static void	do_show(const char *search_string);
 static void	do_show_print(void *arg, param_t param);
-static void	do_set(const char *name, const char *val, bool fail_on_not_found);
-static void	do_compare(const char *name, char *vals[], unsigned comparisons);
-static void	do_reset(void);
-static void	do_reset_nostart(void);
+static void	do_set(const char* name, const char* val, bool fail_on_not_found);
+static void	do_compare(const char* name, char* vals[], unsigned comparisons);
+static void	do_reset(const char* excludes[], int num_excludes);
+static void	do_reset_nostart(const char* excludes[], int num_excludes);
 
 int
 param_main(int argc, char *argv[])
@@ -151,11 +152,19 @@ param_main(int argc, char *argv[])
 		}
 
 		if (!strcmp(argv[1], "reset")) {
-			do_reset();
+			if (argc >= 3) {
+				do_reset((const char**) &argv[2], argc - 2);
+			} else {
+				do_reset(NULL, 0);
+			}
 		}
 
 		if (!strcmp(argv[1], "reset_nostart")) {
-			do_reset_nostart();
+			if (argc >= 3) {
+				do_reset_nostart((const char**) &argv[2], argc - 2);
+			} else {
+				do_reset_nostart(NULL, 0);
+			}
 		}
 	}
 
@@ -452,10 +461,14 @@ do_compare(const char *name, char *vals[], unsigned comparisons)
 }
 
 static void
-do_reset(void)
+do_reset(const char* excludes[], int num_excludes)
 {
-	param_reset_all();
-
+	if (num_excludes > 0) {
+		param_reset_excludes(excludes, num_excludes);
+	} else {
+		param_reset_all();
+	}
+	
 	if (param_save_default()) {
 		warnx("Param export failed.");
 		exit(1);
@@ -466,7 +479,7 @@ do_reset(void)
 }
 
 static void
-do_reset_nostart(void)
+do_reset_nostart(const char* excludes[], int num_excludes)
 {
 
 	int32_t autostart;
@@ -475,7 +488,11 @@ do_reset_nostart(void)
 	(void)param_get(param_find("SYS_AUTOSTART"), &autostart);
 	(void)param_get(param_find("SYS_AUTOCONFIG"), &autoconfig);
 
-	param_reset_all();
+	if (num_excludes > 0) {
+		param_reset_excludes(excludes, num_excludes);
+	} else {
+		param_reset_all();
+	}
 
 	(void)param_set(param_find("SYS_AUTOSTART"), &autostart);
 	(void)param_set(param_find("SYS_AUTOCONFIG"), &autoconfig);