From d54b9315544fc8db09a8e113e27029f5ef1363ce Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sat, 23 May 2015 15:18:25 +0200
Subject: [PATCH] IO driver: auto update param

---
 src/drivers/px4io/px4io.cpp      |  7 ++++++-
 src/drivers/px4io/px4io_params.c | 16 ++++++++--------
 2 files changed, 14 insertions(+), 9 deletions(-)

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 1cdd183a97..bb2f85d61e 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -281,6 +281,7 @@ private:
 	int			_t_actuator_armed;	///< system armed control topic
 	int 			_t_vehicle_control_mode;///< vehicle control mode topic
 	int			_t_param;		///< parameter update topic
+	bool			_param_update_force;	///< force a parameter update
 	int			_t_vehicle_command;	///< vehicle command topic
 
 	/* advertised topics */
@@ -514,6 +515,7 @@ PX4IO::PX4IO(device::Device *interface) :
 	_t_actuator_armed(-1),
 	_t_vehicle_control_mode(-1),
 	_t_param(-1),
+	_param_update_force(false),
 	_t_vehicle_command(-1),
 	_to_input_rc(0),
 	_to_outputs(0),
@@ -917,6 +919,8 @@ PX4IO::task_main()
 	fds[0].fd = _t_actuator_controls_0;
 	fds[0].events = POLLIN;
 
+	_param_update_force = true;
+
 	/* lock against the ioctl handler */
 	lock();
 
@@ -1017,7 +1021,8 @@ PX4IO::task_main()
 			 */
 			orb_check(_t_param, &updated);
 
-			if (updated) {
+			if (updated || _param_update_force) {
+				_param_update_force = false;
 				parameter_update_s pupdate;
 				orb_copy(ORB_ID(parameter_update), _t_param, &pupdate);
 
diff --git a/src/drivers/px4io/px4io_params.c b/src/drivers/px4io/px4io_params.c
index 2dc92632a8..67e9d3cb3b 100644
--- a/src/drivers/px4io/px4io_params.c
+++ b/src/drivers/px4io/px4io_params.c
@@ -51,7 +51,7 @@
  * @max 1
  * @group PWM Outputs
  */
-PARAM_DEFINE_INT32(PWM_MAIN_REV1, 1);
+PARAM_DEFINE_INT32(PWM_MAIN_REV1, 0);
 
 /**
  * Pre-scaler / Inverter for main output channel 2
@@ -62,7 +62,7 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV1, 1);
  * @max 1
  * @group PWM Outputs
  */
-PARAM_DEFINE_INT32(PWM_MAIN_REV2, 1);
+PARAM_DEFINE_INT32(PWM_MAIN_REV2, 0);
 
 /**
  * Pre-scaler / Inverter for main output channel 3
@@ -73,7 +73,7 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV2, 1);
  * @max 1
  * @group PWM Outputs
  */
-PARAM_DEFINE_INT32(PWM_MAIN_REV3, 1);
+PARAM_DEFINE_INT32(PWM_MAIN_REV3, 0);
 
 /**
  * Pre-scaler / Inverter for main output channel 4
@@ -84,7 +84,7 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV3, 1);
  * @max 1
  * @group PWM Outputs
  */
-PARAM_DEFINE_INT32(PWM_MAIN_REV4, 1);
+PARAM_DEFINE_INT32(PWM_MAIN_REV4, 0);
 
 /**
  * Pre-scaler / Inverter for main output channel 5
@@ -95,7 +95,7 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV4, 1);
  * @max 1
  * @group PWM Outputs
  */
-PARAM_DEFINE_INT32(PWM_MAIN_REV5, 1);
+PARAM_DEFINE_INT32(PWM_MAIN_REV5, 0);
 
 /**
  * Pre-scaler / Inverter for main output channel 6
@@ -106,7 +106,7 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV5, 1);
  * @max 1
  * @group PWM Outputs
  */
-PARAM_DEFINE_INT32(PWM_MAIN_REV6, 1);
+PARAM_DEFINE_INT32(PWM_MAIN_REV6, 0);
 
 /**
  * Pre-scaler / Inverter for main output channel 7
@@ -117,7 +117,7 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV6, 1);
  * @max 1
  * @group PWM Outputs
  */
-PARAM_DEFINE_INT32(PWM_MAIN_REV7, 1);
+PARAM_DEFINE_INT32(PWM_MAIN_REV7, 0);
 
 /**
  * Pre-scaler / Inverter for main output channel 8
@@ -128,4 +128,4 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV7, 1);
  * @max 1
  * @group PWM Outputs
  */
-PARAM_DEFINE_INT32(PWM_MAIN_REV8, 1);
+PARAM_DEFINE_INT32(PWM_MAIN_REV8, 0);