autostart scripts: remove SYS_PARAM_VER

With the airframe defaults there's no use for that anymore

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -98,7 +98,7 @@ then
 	set AUTOCNF yes
 
 	# Wipe out params except RC*, flight modes, total flight time, accel cal, gyro cal, next flight UUID
-	param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT_UUID
+	param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*
 fi
 
 # multi-instance setup

ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2

@@ -16,8 +16,6 @@
 set MIXER quad_x
 set PWM_OUT 1234
 
-set PARAM_DEFAULTS_VER 2
-
 
 param set-default BAT_N_CELLS 4
 

ROMFS/px4fmu_common/init.d/rcS

@@ -51,12 +51,6 @@ set STARTUP_TUNE 1
 set USE_IO no
 set VEHICLE_TYPE none
 
-# Airframe parameter versioning: airframe maintainers can set this in the
-# airframe startup script, and then increase it by one whenever an airframe
-# parameter is updated - it will ensure that these parameters will be updated
-# when the firmware is flashed.
-set PARAM_DEFAULTS_VER 1
-
 #
 # Mount the procfs.
 #
@@ -171,12 +165,8 @@ else
 	#
 	if param greater SYS_AUTOCONFIG 0
 	then
-		if param compare SYS_AUTOCONFIG 1
+		# Wipe out params except RC*, flight modes, total flight time, calibration parameters, next flight UUID
-		then
+		param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*
-			# Wipe out params except RC*, flight modes, total flight time, calibration parameters, next flight UUID
-			param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT* SYS_PARAM_VER
-		fi
-
 		set AUTOCNF yes
 	fi
 
@@ -562,15 +552,6 @@ else
 		fi
 	fi
 
-	if ! param compare SYS_PARAM_VER ${PARAM_DEFAULTS_VER}
-	then
-		echo "Switched to different parameter version. Resetting parameters."
-		param set SYS_PARAM_VER ${PARAM_DEFAULTS_VER}
-		param set SYS_AUTOCONFIG 2
-		param save
-		reboot
-	fi
-
 #
 # End of autostart.
 #
@@ -595,7 +576,6 @@ unset MIXER
 unset MIXER_AUX
 unset MIXER_FILE
 unset OUTPUT_MODE
-unset PARAM_DEFAULTS_VER
 unset PARAM_FILE
 unset PWM_AUX_OUT
 unset PWM_AUX_RATE

src/lib/systemlib/system_params.c

@@ -57,8 +57,7 @@ PARAM_DEFINE_INT32(SYS_AUTOSTART, 0);
  * RC* parameters are preserved.
  *
  * @value 0 Keep parameters
- * @value 1 Reset parameters
+ * @value 1 Reset parameters to airframe defaults
- * @value 2 Reload airframe parameters
  * @group System
  */
 PARAM_DEFINE_INT32(SYS_AUTOCONFIG, 0);
@@ -114,19 +113,6 @@ PARAM_DEFINE_INT32(SYS_RESTART_TYPE, 2);
  */
 PARAM_DEFINE_INT32(SYS_MC_EST_GROUP, 2);
 
-/**
- * Parameter version
- *
- * This is used internally only: an airframe configuration might set an expected
- * parameter version value via PARAM_DEFAULTS_VER. This is checked on bootup
- * against SYS_PARAM_VER, and if they do not match, parameters from the airframe
- * configuration are reloaded.
- *
- * @min 0
- * @group System
- */
-PARAM_DEFINE_INT32(SYS_PARAM_VER, 1);
-
 /**
  * Enable auto start of rate gyro thermal calibration at the next power up.
  *

src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp

@@ -401,8 +401,6 @@ private:
 
 
 	DEFINE_PARAMETERS(
-		(ParamInt<px4::params::SYS_AUTOSTART>) _param_sys_autostart,   /**< example parameter */
-
 		// general parameters
 		(ParamInt<px4::params::LPE_FUSION>) _param_lpe_fusion,
 		(ParamFloat<px4::params::LPE_VXY_PUB>) _param_lpe_vxy_pub,

src/modules/mavlink/mavlink_parameters.cpp

@@ -309,7 +309,6 @@ MavlinkParametersManager::send()
 		param_find("SENS_BOARD_Y_OFF");
 		param_find("SENS_BOARD_Z_OFF");
 		param_find("SENS_DPRES_OFF");
-		param_find("SYS_PARAM_VER");
 		param_find("TRIG_MODE");
 		param_find("UAVCAN_ENABLE");