Improvement when params are corrupted

ROMFS/px4fmu_common/init.d/rcS

@@ -122,7 +122,7 @@ else
 		then
 			echo "ERROR [init] param transition"
 		else
-			echo "Successful param transition. The system will reboot!"
+			echo "The system will reboot!"
 			# Wait for UART to send messages
 			usleep 200000
 			reboot

platforms/common/include/px4_platform_common/px4_mtd.h

@@ -85,10 +85,16 @@ __EXPORT int px4_mtd_unmount_littlefs_mount_block_device(void);
 
 /*
   Helper function for transition to LittleFS.
-  It will unmount MTD for parameters with Block Device and mount LittleFS with auto formatting
+  It will unmount MTD for parameters with Block Device and mount LittleFS with force formatting
 */
 __EXPORT int px4_mtd_unmount_block_device_mount_littlefs(void);
 
+/*
+  Helper function for transition to LittleFS.
+  It will force formatting to LittleFS
+*/
+__EXPORT int px4_mtd_forceformat_littlefs(void);
+
 int px4_at24c_initialize(FAR struct i2c_master_s *dev,
 			 uint8_t address, FAR struct mtd_dev_s **mtd_dev);
 

platforms/nuttx/src/px4/common/px4_mtd.cpp

@@ -507,27 +507,21 @@ int px4_mtd_unmount_littlefs_mount_block_device(void)
 	char blockname[32];
 	snprintf(blockname, sizeof(blockname), "/dev/mtdblock%d", param_block);
 
-	// in case if it is mounted
+	// in case LittleFS is mounted, unmount it
 	nx_umount2(instances[param_instance]->partition_names[param_part], 0);
+	unregister_mtddriver(blockname);
 
-	int ret = unregister_mtddriver(blockname);
+	int ret = ftl_initialize(0, instances[0]->part_dev[0]);
 
 	if (ret < 0) {
-		PX4_ERR("unregister_mtddriver fail: %d", ret);
+		PX4_ERR("ftl_initialize failed: %d", ret);
 
 	} else {
-		ret = ftl_initialize(0, instances[0]->part_dev[0]);
+		ret = bchdev_register(blockname, instances[param_instance]->partition_names[param_part], false);
 
 		if (ret < 0) {
-			PX4_ERR("ftl_initialize failed: %d", ret);
+			PX4_ERR("bchdev_register failed: %d", ret);
 
-		} else {
-			ret = bchdev_register(blockname, instances[param_instance]->partition_names[param_part], false);
-
-			if (ret < 0) {
-				PX4_ERR("bchdev_register failed: %d", ret);
-
-			}
 		}
 	}
 
@@ -551,19 +545,29 @@ int px4_mtd_unmount_block_device_mount_littlefs(void)
 			PX4_ERR("unregister_blockdriver %s failed: %d", blockname, ret);
 
 		} else {
-			ret = register_mtddriver(blockname, instances[param_instance]->part_dev[param_part], 0755, nullptr);
+			ret = px4_mtd_forceformat_littlefs();
+		}
+	}
 
-			if (ret < 0) {
+	return ret;
-				PX4_ERR("register_mtddriver %s failed: %d", blockname, ret);
+}
 
-			} else {
+int px4_mtd_forceformat_littlefs(void)
-				ret = nx_mount(blockname, instances[param_instance]->partition_names[param_part], "littlefs", 0, "forceformat");
+{
+	char blockname[32];
+	snprintf(blockname, sizeof(blockname), "/dev/mtdblock%d", param_block);
 
-				if (ret < 0) {
+	int ret = register_mtddriver(blockname, instances[param_instance]->part_dev[param_part], 0755, nullptr);
-					PX4_ERR("nx_mount %s failed: %d", instances[param_instance]->partition_names[param_part], ret);
+
+	if (ret < 0) {
+		PX4_ERR("register_mtddriver %s failed: %d", blockname, ret);
+
+	} else {
+		ret = nx_mount(blockname, instances[param_instance]->partition_names[param_part], "littlefs", 0, "forceformat");
+
+		if (ret < 0) {
+			PX4_ERR("nx_mount %s failed: %d", instances[param_instance]->partition_names[param_part], ret);
 
-				}
-			}
 		}
 	}
 

src/systemcmds/param/param.cpp

@@ -483,18 +483,35 @@ do_transition()
 	if (ret_val < 0) {
 		PX4_ERR("Transition from LittleFS to Blockdriver");
 	} else {
-		ret_val = do_import("/fs/mtd_params");
+		char param_path[] = "/fs/mtd_params";
+		PX4_INFO("Try path: %s", param_path);
+		ret_val = do_import(param_path);
 
-		if (ret_val < 0) {
+		if (ret_val == 1) {
-			PX4_ERR("Import from blockdriver");
+			PX4_WARN("Try path: %s", param_path);
-		} else {
+
+			char param_path_backup[] = "/fs/microsd/parameters_backup.bson";
+			ret_val = do_import(param_path_backup);
+		}
+
+		if (ret_val == 0) {
 			ret_val = px4_mtd_unmount_block_device_mount_littlefs();
 
-			if (ret_val < 0){
+			if (ret_val < 0) {
 				PX4_ERR("Transition from Blockdriver to LittleFS failed");
 			} else {
+
+				PX4_INFO("Exporting params to LittleFS!");
 				ret_val = param_export(param_get_default_file(), nullptr);
+
+				if (ret_val == 0) {
+					PX4_INFO("Successful params transition!");
+				}
 			}
+
+		} else {
+			PX4_INFO("Params are unreadable from any known path. Format partition to LittleFS!");
+			ret_val = px4_mtd_forceformat_littlefs();
 		}
 	}