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Commander: Do not save params on already saved param update

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This commit is contained in:
Lorenz Meier
2016-01-22 11:33:40 +01:00
parent 19b81b9ab2
commit 85c49ff642
2 changed files with 11 additions and 9 deletions
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msg/parameter_update.msg
+1
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@@ -1 +1,2 @@
uint64 timestamp # time at which the latest parameter was updated uint64 timestamp # time at which the latest parameter was updated
bool saved # wether the change has already been saved to disk
src/modules/commander/commander.cpp
+9 -8
View File
@@ -1509,12 +1509,12 @@ int commander_thread_main(int argc, char *argv[])
/* EPH / EPV */ /* EPH / EPV */
param_get(_param_eph, &eph_threshold); param_get(_param_eph, &eph_threshold);
param_get(_param_epv, &epv_threshold); param_get(_param_epv, &epv_threshold);
}
/* Set flag to autosave parameters if necessary */ /* Set flag to autosave parameters if necessary */
if (updated && autosave_params != 0) { if (updated && autosave_params != 0 && param_changed.saved == false) {
/* trigger an autosave */ /* trigger an autosave */
need_param_autosave = true; need_param_autosave = true;
}
} }
orb_check(sp_man_sub, &updated); orb_check(sp_man_sub, &updated);
@@ -1570,11 +1570,12 @@ int commander_thread_main(int argc, char *argv[])
/* and the system is not already armed (and potentially flying) */ /* and the system is not already armed (and potentially flying) */
!armed.armed) { !armed.armed) {
bool chAirspeed = false; bool chAirspeed = false;
bool hotplug_timeout = hrt_elapsed_time(&commander_boot_timestamp) > HOTPLUG_SENS_TIMEOUT; bool hotplug_timeout = hrt_elapsed_time(&commander_boot_timestamp) > HOTPLUG_SENS_TIMEOUT;
/* Perform airspeed check only if circuit breaker is not /* Perform airspeed check only if circuit breaker is not
* engaged and it's not a rotary wing */ * engaged and it's not a rotary wing
*/
if (!status.circuit_breaker_engaged_airspd_check && !status.is_rotary_wing) { if (!status.circuit_breaker_engaged_airspd_check && !status.is_rotary_wing) {
chAirspeed = true; chAirspeed = true;
} }