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parameters: open export files O_TRUNC to discard previous data

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- rcS parameter backup try to directly restore param (FRAM) from backup (in case SD card is removed before successful export)
 - rcS parameter backup logging rearrange to capture more logging output (param_import_fail.txt)
 - posix rcS try to keep param backup and restore roughly in sync with NuttX rcS
 - tinybson fix debug printf format
 - param_export_internal ensure file descriptor positioned at 0 (precaution)
This commit is contained in:
Daniel Agar
2022-09-09 16:20:16 -04:00
parent 296b1704c5
commit 3f3a5f19f0
6 changed files with 69 additions and 28 deletions
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ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
+3 -3
View File
@@ -7,7 +7,7 @@ param set-default IMU_INTEG_RATE 250
if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" ]; then
if ! simulator_sih start; then
echo "ERROR [init] simulator_sih failed to start"
echo "ERROR [init] simulator_sih failed to start"
exit 1
fi
@@ -46,7 +46,7 @@ elif [ "$PX4_SIMULATOR" = "ignition" ]; then
sensor_gps_sim start
sensor_mag_sim start
else
echo "ERROR [init] ign gazebo failed to start"
echo "ERROR [init] ign gazebo failed to start"
exit 1
fi
else
@@ -61,7 +61,7 @@ elif [ "$PX4_SIMULATOR" = "ignition" ]; then
sensor_gps_sim start
sensor_mag_sim start
else
echo "ERROR [init] ign gazebo failed to start"
echo "ERROR [init] ign gazebo failed to start"
exit 1
fi
ROMFS/px4fmu_common/init.d-posix/rcS
+36 -8
View File
@@ -52,7 +52,7 @@ then
# shellcheck disable=SC2012
REQUESTED_AUTOSTART=$(ls "${R}etc/init.d-posix/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
if [ -z "$REQUESTED_AUTOSTART" ]; then
echo "ERROR [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
echo "ERROR [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
exit 1
else
SYS_AUTOSTART=$REQUESTED_AUTOSTART
@@ -62,18 +62,46 @@ fi
# Load parameters
set PARAM_FILE parameters.bson
param select $PARAM_FILE
set PARAM_BACKUP_FILE parameters_backup.bson
if [ -f $PARAM_FILE ]
then
if param load
param select $PARAM_FILE
if [ -f $PARAM_FILE ]; then
set +e # disable exit on error control for param import
if ! param import
then
echo "[param] Loaded: $PARAM_FILE"
else
echo "[param] FAILED loading $PARAM_FILE"
echo "ERROR [init] param import failed"
param dump $PARAM_FILE
# try to make a backup copy
cp $PARAM_FILE param_import_fail.bson
# try importing from backup file
if [ -f $PARAM_BACKUP_FILE ]
then
echo "[init] importing from parameter backup"
# dump current backup file contents for comparison
param dump $PARAM_BACKUP_FILE
param import $PARAM_BACKUP_FILE
# overwrite invalid $PARAM_FILE with backup
cp $PARAM_BACKUP_FILE $PARAM_FILE
fi
param status
fi
set -e # restore exit on error control
elif [ -f $PARAM_BACKUP_FILE ]; then
echo "ERROR [init] primary param file $PARAM_FILE unavailable, using backup $PARAM_BACKUP_FILE"
param import $PARAM_BACKUP_FILE
fi
param select-backup $PARAM_BACKUP_FILE
# exit early when the minimal shell is requested
[ $RUN_MINIMAL_SHELL = yes ] && exit 0