dataman: remove obsolete persistence and reset reason

src/modules/navigator/GeofenceBreachAvoidance/dataman_mocks.hpp

@@ -54,7 +54,6 @@ extern "C" {
 	dm_write(
 		dm_item_t  item,		/* The item type to store */
 		unsigned index,			/* The index of the item */
-		dm_persitence_t persistence,	/* The persistence level of this item */
 		const void *buffer,		/* Pointer to caller data buffer */
 		size_t buflen			/* Length in bytes of data to retrieve */
 	) {return 0;};
@@ -90,11 +89,5 @@ extern "C" {
 	dm_clear(
 		dm_item_t item			/* The item type to clear */
 	) {return 0;};
-
-	/** Tell the data manager about the type of the last reset */
-	__EXPORT int
-	dm_restart(
-		dm_reset_reason restart_type	/* The last reset type */
-	) {return 0;};
 }
 

src/modules/navigator/geofence.cpp

@@ -537,8 +537,7 @@ Geofence::loadFromFile(const char *filename)
 				}
 			}
 
-			if (dm_write(DM_KEY_FENCE_POINTS, pointCounter + 1, DM_PERSIST_POWER_ON_RESET, &vertex,
-				     sizeof(vertex)) != sizeof(vertex)) {
+			if (dm_write(DM_KEY_FENCE_POINTS, pointCounter + 1, &vertex, sizeof(vertex)) != sizeof(vertex)) {
 				goto error;
 			}
 
@@ -571,14 +570,13 @@ Geofence::loadFromFile(const char *filename)
 			if (dm_read(DM_KEY_FENCE_POINTS, seq, &mission_fence_point, sizeof(mission_fence_point_s)) ==
 			    sizeof(mission_fence_point_s)) {
 				mission_fence_point.vertex_count = pointCounter;
-				dm_write(DM_KEY_FENCE_POINTS, seq, DM_PERSIST_POWER_ON_RESET, &mission_fence_point,
-					 sizeof(mission_fence_point_s));
+				dm_write(DM_KEY_FENCE_POINTS, seq, &mission_fence_point, sizeof(mission_fence_point_s));
 			}
 		}
 
 		mission_stats_entry_s stats;
 		stats.num_items = pointCounter;
-		rc = dm_write(DM_KEY_FENCE_POINTS, 0, DM_PERSIST_POWER_ON_RESET, &stats, sizeof(mission_stats_entry_s));
+		rc = dm_write(DM_KEY_FENCE_POINTS, 0, &stats, sizeof(mission_stats_entry_s));
 
 	} else {
 		mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Geofence: import error\t");

src/modules/navigator/mission.cpp

@@ -67,6 +67,30 @@ Mission::Mission(Navigator *navigator) :
 	MissionBlock(navigator),
 	ModuleParams(navigator)
 {
+	mission_init();
+}
+
+void Mission::mission_init()
+{
+	// init mission state, do it here to allow navigator to use stored mission even if mavlink failed to start
+	mission_s mission{};
+
+	if (dm_read(DM_KEY_MISSION_STATE, 0, &mission, sizeof(mission_s)) == sizeof(mission_s)) {
+		if ((mission.timestamp != 0)
+		    && (mission.dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_0 || mission.dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_1)) {
+			if (mission.count > 0) {
+				PX4_INFO("Mission #%" PRIu8 " loaded, %" PRIu16 " WPs", mission.dataman_id, mission.count);
+			}
+
+		} else {
+			PX4_ERR("reading mission state failed");
+
+			// initialize mission state in dataman
+			mission.dataman_id = DM_KEY_WAYPOINTS_OFFBOARD_0;
+			mission.timestamp = hrt_absolute_time();
+			dm_write(DM_KEY_MISSION_STATE, 0, &mission, sizeof(mission_s));
+		}
+	}
 }
 
 void
@@ -1578,7 +1602,7 @@ Mission::read_mission_item(int offset, struct mission_item_s *mission_item)
 					(mission_item_tmp.do_jump_current_count)++;
 
 					/* save repeat count */
-					if (dm_write(dm_item, *mission_index_ptr, DM_PERSIST_POWER_ON_RESET, &mission_item_tmp, len) != len) {
+					if (dm_write(dm_item, *mission_index_ptr, &mission_item_tmp, len) != len) {
 						/* not supposed to happen unless the datamanager can't access the dataman */
 						mavlink_log_critical(_navigator->get_mavlink_log_pub(), "DO JUMP waypoint could not be written.\t");
 						events::send(events::ID("mission_failed_to_write_do_jump"), events::Log::Error,
@@ -1645,8 +1669,7 @@ Mission::save_mission_state()
 				mission_state.current_seq = _current_mission_index;
 				mission_state.timestamp = hrt_absolute_time();
 
-				if (dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission_state,
-					     sizeof(mission_s)) != sizeof(mission_s)) {
+				if (dm_write(DM_KEY_MISSION_STATE, 0, &mission_state, sizeof(mission_s)) != sizeof(mission_s)) {
 
 					PX4_ERR("Can't save mission state");
 				}
@@ -1667,8 +1690,7 @@ Mission::save_mission_state()
 		events::send(events::ID("mission_invalid_mission_state"), events::Log::Error, "Invalid mission state");
 
 		/* write modified state only if changed */
-		if (dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission_state,
-			     sizeof(mission_s)) != sizeof(mission_s)) {
+		if (dm_write(DM_KEY_MISSION_STATE, 0, &mission_state, sizeof(mission_s)) != sizeof(mission_s)) {
 
 			PX4_ERR("Can't save mission state");
 		}
@@ -1765,7 +1787,7 @@ Mission::reset_mission(struct mission_s &mission)
 					if (item.nav_cmd == NAV_CMD_DO_JUMP) {
 						item.do_jump_current_count = 0;
 
-						if (dm_write(dm_current, index, DM_PERSIST_POWER_ON_RESET, &item, len) != len) {
+						if (dm_write(dm_current, index, &item, len) != len) {
 							PX4_WARN("could not save mission item during reset");
 							break;
 						}
@@ -1784,7 +1806,7 @@ Mission::reset_mission(struct mission_s &mission)
 			mission.current_seq = 0;
 		}
 
-		dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission, sizeof(mission_s));
+		dm_write(DM_KEY_MISSION_STATE, 0, &mission, sizeof(mission_s));
 	}
 
 	dm_unlock(DM_KEY_MISSION_STATE);

src/modules/navigator/mission.h

@@ -105,6 +105,8 @@ public:
 	void set_execution_mode(const uint8_t mode);
 private:
 
+	void mission_init();
+
 	/**
 	 * Update mission topic
 	 */