param command: use param_* calls even if flash-based params are enabled

This will ensure proper locking.

src/modules/systemlib/flashparams/flashparams.c

@@ -342,11 +342,6 @@ int flash_param_save(void)
 }
 
 
-int flash_param_save_default(void)
-{
-	return param_export_internal(false);
-}
-
 
 int flash_param_load(void)
 {
@@ -356,5 +351,5 @@ int flash_param_load(void)
 
 int flash_param_import(void)
 {
-	return 0;
+	return -1;
 }

src/modules/systemlib/flashparams/flashparams.h

@@ -64,9 +64,8 @@ __EXPORT extern UT_array        *param_values;
 __EXPORT int param_set_external(param_t param, const void *val, bool mark_saved, bool notify_changes, bool is_saved);
 __EXPORT const void *param_get_value_ptr_external(param_t param);
 
-/* The interface hooks to the Flash based storage */
+/* The interface hooks to the Flash based storage. The caller is responsible for locking */
 __EXPORT int flash_param_save(void);
-__EXPORT int flash_param_save_default(void);
 __EXPORT int flash_param_load(void);
 __EXPORT int flash_param_import(void);
 __END_DECLS

src/modules/systemlib/param/param.c

@@ -803,7 +803,9 @@ param_save_default(void)
 
 	PARAM_CLOSE(fd);
 #else
+	param_lock();
 	res = flash_param_save();
+	param_unlock();
 #endif
 	return res;
 }
@@ -814,7 +816,8 @@ param_save_default(void)
 int
 param_load_default(void)
 {
-	warnx("param_load_default\n");
+	int res = 0;
+#if !defined(FLASH_BASED_PARAMS)
 	int fd_load = PARAM_OPEN(param_get_default_file(), O_RDONLY);
 
 	if (fd_load < 0) {
@@ -835,7 +838,11 @@ param_load_default(void)
 		return -2;
 	}
 
-	return 0;
+#else
+	// no need for locking
+	res = flash_param_load();
+#endif
+	return res;
 }
 
 static void
@@ -1134,7 +1141,13 @@ out:
 int
 param_import(int fd)
 {
+#if !defined(FLASH_BASED_PARAMS)
 	return param_import_internal(fd, false);
+#else
+	(void)fd; // unused
+	// no need for locking here
+	return flash_param_import();
+#endif
 }
 
 int