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Jacob Dahl
88951f01e9
Flashing PX4 over another firmware (e.g. ArduPilot on an ARK FPV) or
first-booting a board with blank parameter storage played the error tune
on every boot: the param layer treated a blank store as corruption, and
the rcS recovery persisted with a file cp that is a no-op on
FLASH_BASED_PARAMS boards, so the store never became valid.
- param_import()/param_load() return 1 ("not yet stored") for a blank
source - empty file, zeroed FRAM, or erased flash - on both the file
and flash backends; a store that holds data but no valid entry (torn
write, bit-rot, foreign data) is still reported as corrupt (-EILSEQ).
The file backend detects a zero-length file via fstat (NuttX FAT
cannot read() a 0-byte file: no cluster chain returns an error, not
EOF) and otherwise inspects the leading BSON document length; the
flash backend scans the whole store
- new 'param load-or-init <backup>' command: loads from the default
storage; a blank store is seeded from the SD backup (or firmware
defaults) and persisted so the next boot loads normally. A corrupt
store, a backup that exists but cannot be opened or imported, or a
result that cannot be persisted returns failure. The three-way
loaded/blank/corrupt logic lives in C because nsh $? is a binary
success flag. A failed backup seed does not reset to defaults, which
preserves parameters loaded earlier in boot (e.g. factory calibration
from /fs/mtd_caldata)
- rcS uses 'param load-or-init' instead of 'param import', and the
corrupt-store recovery persists via 'param save' (works on
flash-backed boards) only when the backup actually imported, so a
corrupt backup keeps alerting the operator on the next boot
- commander ParamLoadDefault treats blank storage (1) as success and
warns the GCS that parameters were reset to defaults, instead of
reporting "Error loading settings"
- parameter_flashfs_init() in flashfs.c no longer reports a successful
erase byte count as a failure (parity with flashfs32.c)
Tested with new blankImport and corruptImport cases in 'tests
parameters' (empty/zeroed/erased sources import as "not yet stored",
garbage fails to import); the CustomDefaults test now restores the
firmware default so the suite is repeatable within one boot.
The STM32H7 flash-erase DCACHE invalidate fix this depends on
(PX4/NuttX#381) is already in main's NuttX submodule.
Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>