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parameters: param_get avoid locking if value is static default

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This commit is contained in:
Daniel Agar
2021-04-23 13:38:29 -04:00
parent cd8ce4d01e
commit 27a113ecab
1 changed files with 13 additions and 1 deletions
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src/lib/parameters/parameters.cpp
+13 -1
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@@ -493,8 +493,20 @@ param_get(param_t param, void *val)
int result = PX4_ERROR;
if (val) {
param_lock_reader();
if (!params_changed[param] && !params_custom_default[param]) {
// if parameter is unchanged (static default value) copy immediately and avoid locking
switch (param_type(param)) {
case PARAM_TYPE_INT32:
memcpy(val, &px4::parameters[param].val.i, sizeof(px4::parameters[param].val.i));
return PX4_OK;
case PARAM_TYPE_FLOAT:
memcpy(val, &px4::parameters[param].val.f, sizeof(px4::parameters[param].val.f));
return PX4_OK;
}
}
param_lock_reader();
const void *v = param_get_value_ptr(param);
if (v) {