[RFC] broadcast parameter changes and ModuleParams skip full updateParams() when possible

2026-05-23 21:37:35 +08:00 · 2022-12-19 21:14:04 -05:00
129 changed files with 2774 additions and 3670 deletions
@@ -684,7 +684,7 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'

  // status commands
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
@@ -715,7 +715,7 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
@@ -767,13 +767,13 @@ void runTests() {

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd readtest"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
@@ -74,7 +74,7 @@ if [ -f $PARAM_FILE ]; then
 	then
 		echo "ERROR [init] param import failed"

-		bsondump $PARAM_FILE
+		param dump $PARAM_FILE

 		# try to make a backup copy
 		cp $PARAM_FILE param_import_fail.bson
@@ -85,7 +85,7 @@ if [ -f $PARAM_FILE ]; then
 			echo "[init] importing from parameter backup"

 			# dump current backup file contents for comparison
-			bsondump $PARAM_BACKUP_FILE
+			param dump $PARAM_BACKUP_FILE

 			param import $PARAM_BACKUP_FILE

@@ -227,7 +227,7 @@ then
 elif [ ! -e "$autostart_file" ] && [ "$SYS_AUTOSTART" -ne "0" ]
 then
 	echo "Error: no autostart file found ($autostart_file)"
-	#exit 1
+	exit 1
 fi

 #user defined params for instances can be in PATH
@@ -130,7 +130,7 @@ else
 		echo "ERROR [init] param import failed"
 		set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE

-		bsondump $PARAM_FILE
+		param dump $PARAM_FILE

 		if [ -d "/fs/microsd" ]
 		then
@@ -143,7 +143,7 @@ else
 				echo "[init] importing from parameter backup"

 				# dump current backup file contents for comparison
-				bsondump $PARAM_BACKUP_FILE
+				param dump $PARAM_BACKUP_FILE

 				param import $PARAM_BACKUP_FILE

@@ -43,13 +43,13 @@ do
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param reset SYS_HITL'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param save'
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'bsondump /fs/mtd_params'
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump'

 	${DIR}/reboot.py --device ${SERIAL_DEVICE}

 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'bsondump /fs/mtd_params' || true
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'bsondump /fs/microsd/parameters_backup.bson' || true
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/mtd_params' || true
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/microsd/parameters_backup.bson' || true

 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'ps'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'work_queue status'
@@ -79,9 +79,8 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -70,7 +70,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
@@ -76,9 +76,8 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -63,7 +63,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DYN=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_PARAM=y
@@ -81,9 +81,8 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -27,12 +27,14 @@ CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
+CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
@@ -44,7 +46,6 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -53,7 +54,6 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -69,6 +69,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -79,10 +80,10 @@ CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -105,3 +106,4 @@ CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
 CONFIG_EXAMPLES_FAKE_GPS=y
+#CONFIG_DRIVERS_TRANSPONDER_SAGETECH_MXS=y
@@ -75,7 +75,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -1,8 +1,12 @@
 CONFIG_DRIVERS_ADC_ADS1115=n
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IRLOCK=n
+CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
+CONFIG_DRIVERS_RPM=n
 CONFIG_DRIVERS_UAVCAN=n
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_BOARD_TESTING=y
@@ -80,9 +80,8 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -66,7 +66,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DYN=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_PARAM=y
@@ -28,8 +28,10 @@ CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_DRIVERS_ROBOCLAW=y
+CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -38,7 +40,6 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -47,7 +48,6 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -62,6 +62,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -72,10 +73,10 @@ CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -71,7 +71,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -85,9 +85,8 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -82,7 +82,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -76,7 +76,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -8,4 +8,3 @@ CONFIG_ORB_COMMUNICATOR=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_DRIVERS_QSHELL_POSIX=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
@@ -79,7 +79,6 @@ CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -77,9 +77,8 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -77,9 +77,8 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -78,7 +78,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -21,6 +21,7 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
@@ -78,7 +79,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -78,7 +78,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -79,9 +79,8 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -80,9 +80,8 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -23,12 +23,14 @@ CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
+CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
@@ -76,7 +78,6 @@ CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
@@ -24,12 +24,14 @@ CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
+CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
@@ -78,7 +80,6 @@ CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
@@ -31,7 +31,6 @@ CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -50,7 +49,7 @@ CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
@@ -83,7 +83,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -25,6 +25,7 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
@@ -83,7 +84,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -25,12 +25,15 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_DRIVERS_ROBOCLAW=y
+CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -40,7 +43,6 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -49,7 +51,6 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -65,6 +66,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -77,10 +79,10 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -11,25 +11,28 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI055=n
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=n
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=n
 CONFIG_DRIVERS_IRLOCK=n
+CONFIG_DRIVERS_OSD=n
 CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_DRIVERS_POWER_MONITOR_INA226=n
 CONFIG_DRIVERS_PWM_INPUT=n
 CONFIG_DRIVERS_ROBOCLAW=n
+CONFIG_DRIVERS_RPM=n
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=n
 CONFIG_DRIVERS_UAVCAN=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_CAMERA_FEEDBACK=n
 CONFIG_MODULES_ESC_BATTERY=n
-CONFIG_MODULES_GIMBAL=n
 CONFIG_MODULES_GYRO_CALIBRATION=n
 CONFIG_MODULES_GYRO_FFT=n
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
+CONFIG_MODULES_SIH=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_MODULES_UUV_ATT_CONTROL=n
 CONFIG_MODULES_UUV_POS_CONTROL=n
+CONFIG_MODULES_GIMBAL=n
 CONFIG_SYSTEMCMDS_SERIAL_TEST=n
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_TESTING=y
@@ -86,7 +86,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -3,6 +3,7 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IRLOCK=n
 CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
+CONFIG_DRIVERS_RPM=n
 CONFIG_EXAMPLES_FAKE_GPS=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_GYRO_FFT=n
@@ -59,7 +59,6 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
@@ -85,7 +84,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -68,7 +68,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
@@ -78,7 +78,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -74,7 +74,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -62,7 +62,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DYN=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_PARAM=y
@@ -49,7 +49,6 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DYN=y
 CONFIG_SYSTEMCMDS_FAILURE=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
@@ -59,7 +59,6 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DYN=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_PARAM=y
@@ -83,7 +83,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -78,7 +78,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -78,7 +78,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -33,12 +33,10 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -54,6 +52,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
@@ -63,9 +62,9 @@ CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -134,6 +134,7 @@ set(msg_files
 	OrbTest.msg
 	OrbTestLarge.msg
 	OrbTestMedium.msg
+	Parameter.msg
 	ParameterUpdate.msg
 	Ping.msg
 	PositionControllerLandingStatus.msg
@@ -182,8 +183,8 @@ set(msg_files
 	TrajectoryWaypoint.msg
 	TransponderReport.msg
 	TuneControl.msg
-	ParameterRequest.msg
-	ParameterValue.msg
+	UavcanParameterRequest.msg
+	UavcanParameterValue.msg
 	UlogStream.msg
 	UlogStreamAck.msg
 	UwbDistance.msg
@@ -219,14 +220,6 @@ set(msg_files
 	WheelEncoders.msg
 	Wind.msg
 	YawEstimatorStatus.msg
-
-        Parameter.msg
-
-        SrvParameterGetRequest.msg
-        SrvParameterGetResponse.msg
-
-        SrvParameterSetRequest.msg
-        SrvParameterSetResponse.msg
 )
 list(SORT msg_files)

@@ -1,27 +0,0 @@
-# parameter request type
-uint64 timestamp		# time since system start (microseconds)
-
-uint8 MESSAGE_TYPE_INVALID            = 0
-uint8 MESSAGE_TYPE_PARAM_REQUEST_READ = 1
-uint8 MESSAGE_TYPE_PARAM_REQUEST_LIST = 2
-uint8 MESSAGE_TYPE_PARAM_SET          = 3
-uint8 message_type                        # message type
-
-uint8 NODE_ID_ALL = 0		# MAV_COMP_ID_ALL
-uint8 node_id			# node ID
-
-char[17] name                   # parameter name
-int16 param_index		# -1 if the param_id field should be used as identifier
-
-uint8 TYPE_INVALID = 0
-uint8 TYPE_BOOL    = 1
-uint8 TYPE_INT32   = 2
-uint8 TYPE_FLOAT32 = 3
-uint8 type                # parameter type
-
-int32 int32_value               # current value if param_type is int-like
-float32 float32_value           # current value if param_type is float-like
-
-uint8 ORB_QUEUE_LENGTH = 8
-
-# TOPICS parameter_request uavcan_parameter_request
@@ -7,3 +7,5 @@ uint32 instance		# Instance count - constantly incrementing
 uint16 count

 Parameter changed_param
+
+uint8 ORB_QUEUE_LENGTH = 8
@@ -1,22 +0,0 @@
-# parameter response type
-uint64 timestamp		# time since system start (microseconds)
-
-uint8 node_id			# requester node ID
-
-char[17] param_name		# parameter name
-
-int16 param_index		# parameter index, if known
-
-uint16 param_count		# number of parameters exposed by the node
-
-uint8 type                      # parameter type
-
-int32 int32_value               # current value if param_type is int-like
-float32 float32_value           # current value if param_type is float-like
-
-
-uint64 timestamp_requested
-
-uint8 ORB_QUEUE_LENGTH = 8
-
-# TOPICS parameter_value uavcan_parameter_value
@@ -1,6 +0,0 @@
-uint64 timestamp              # time since system start (microseconds)
-
-char[17] name                 # parameter name
-int16 index                   # -1 if the param_id field should be used as identifier
-
-uint8 ORB_QUEUE_LENGTH = 16
@@ -1,11 +0,0 @@
-uint64 timestamp              # time since system start (microseconds)
-uint64 timestamp_requested
-
-Parameter parameter
-
-uint8 RESULT_GET_SUCCESS             = 0
-uint8 RESULT_GET_FAILED              = 1
-uint8 RESULT_ERROR_INVALID_PARAMETER = 2
-uint8 result
-
-uint8 ORB_QUEUE_LENGTH = 16
@@ -1,5 +0,0 @@
-uint64 timestamp              # time since system start (microseconds)
-
-Parameter parameter
-
-uint8 ORB_QUEUE_LENGTH = 8
@@ -1,11 +0,0 @@
-uint64 timestamp              # time since system start (microseconds)
-uint64 timestamp_requested
-
-Parameter parameter
-
-uint8 RESULT_SET_SUCCESS             = 0
-uint8 RESULT_SET_FAILED              = 1
-uint8 RESULT_ERROR_INVALID_PARAMETER = 2
-uint8 result
-
-uint8 ORB_QUEUE_LENGTH = 8
@@ -0,0 +1,23 @@
+# UAVCAN-MAVLink parameter bridge request type
+uint64 timestamp		# time since system start (microseconds)
+
+uint8 MESSAGE_TYPE_PARAM_REQUEST_READ = 20	# MAVLINK_MSG_ID_PARAM_REQUEST_READ
+uint8 MESSAGE_TYPE_PARAM_REQUEST_LIST = 21	# MAVLINK_MSG_ID_PARAM_REQUEST_LIST
+uint8 MESSAGE_TYPE_PARAM_SET = 23		# MAVLINK_MSG_ID_PARAM_SET
+uint8 message_type				# MAVLink message type: PARAM_REQUEST_READ, PARAM_REQUEST_LIST, PARAM_SET
+
+uint8 NODE_ID_ALL = 0		# MAV_COMP_ID_ALL
+uint8 node_id			# UAVCAN node ID mapped from MAVLink component ID
+
+char[17] param_id		# MAVLink/UAVCAN parameter name
+int16 param_index		# -1 if the param_id field should be used as identifier
+
+uint8 PARAM_TYPE_UINT8 = 1	# MAV_PARAM_TYPE_UINT8
+uint8 PARAM_TYPE_INT64 = 8	# MAV_PARAM_TYPE_INT64
+uint8 PARAM_TYPE_REAL32 = 9	# MAV_PARAM_TYPE_REAL32
+uint8 param_type		# MAVLink parameter type
+
+int64 int_value			# current value if param_type is int-like
+float32 real_value		# current value if param_type is float-like
+
+uint8 ORB_QUEUE_LENGTH = 4
@@ -0,0 +1,9 @@
+# UAVCAN-MAVLink parameter bridge response type
+uint64 timestamp		# time since system start (microseconds)
+uint8 node_id			# UAVCAN node ID mapped from MAVLink component ID
+char[17] param_id		# MAVLink/UAVCAN parameter name
+int16 param_index		# parameter index, if known
+uint16 param_count		# number of parameters exposed by the node
+uint8 param_type		# MAVLink parameter type
+int64 int_value			# current value if param_type is int-like
+float32 real_value		# current value if param_type is float-like
@@ -42,6 +42,8 @@
 #include <containers/List.hpp>

 #include "param.h"
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/parameter_update.h>

 class ModuleParams : public ListNode<ModuleParams *>
 {
@@ -68,6 +70,8 @@ public:
 	virtual ~ModuleParams()
 	{
 		if (_parent) { _parent->_children.remove(this); }
+
+		_parameter_update_sub.unsubscribe();
 	}

 	// Disallow copy construction and move assignment.
@@ -83,20 +87,75 @@ protected:
 	 */
 	virtual void updateParams()
 	{
-		for (const auto &child : _children) {
-			child->updateParams();
+		bool update_all = true;
+		int parameter_updates = 0;
+
+		while (_parameter_update_sub.updated() && (parameter_updates < parameter_update_s::ORB_QUEUE_LENGTH)) {
+			parameter_updates++;
+
+			parameter_update_s parameter_update;
+
+			if (_parameter_update_sub.copy(&parameter_update)
+			    && (_parameter_update_instance > 0)
+			    && (parameter_update.instance == _parameter_update_instance + 1)
+			    && (parameter_update.changed_param.index >= 0)
+			    && (static_cast<uint16_t>(parameter_update.changed_param.index) != PARAM_INVALID)
+			   ) {
+				update_all = false;
+
+				for (const auto &child : _children) {
+					child->updateParams(parameter_update);
+				}
+
+				updateParamsImpl(parameter_update);
+
+				_parameter_update_instance = parameter_update.instance;
+
+			} else {
+				update_all = true;
+				break;
+			}
 		}

-		updateParamsImpl();
+		if (update_all) {
+			PX4_DEBUG("updateParams: updating all params");
+			parameter_update_s parameter_update;
+
+			if (_parameter_update_sub.copy(&parameter_update)) {
+				_parameter_update_instance = parameter_update.instance;
+			}
+
+			for (const auto &child : _children) {
+				child->updateParams();
+			}
+
+			updateParamsImpl();
+
+		} else {
+			PX4_DEBUG("updateParams: updating all params skipped");
+		}
+	}
+
+	virtual void updateParams(const parameter_update_s &parameter_update)
+	{
+		for (const auto &child : _children) {
+			child->updateParams(parameter_update);
+		}
+
+		updateParamsImpl(parameter_update);
 	}

 	/**
 	 * @brief The implementation for this is generated with the macro DEFINE_PARAMETERS()
 	 */
 	virtual void updateParamsImpl() {}
+	virtual void updateParamsImpl(const parameter_update_s &parameter_update) {}

 private:
 	/** @list _children The module parameter list of inheriting classes. */
 	List<ModuleParams *> _children;
 	ModuleParams *_parent{nullptr};
+
+	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
+	uint32_t _parameter_update_instance{0};
 };
@@ -44,11 +44,13 @@
 #include <math.h>

 #include <parameters/px4_parameters.hpp>
+#include <uORB/topics/parameter.h>
+#include <uORB/topics/parameter_update.h>

 /**
 * get the parameter handle from a parameter enum
 */
-inline static param_t param_handle(px4::params p)
+inline static constexpr param_t param_handle(px4::params p)
 {
 	return (param_t)p;
 }
@@ -62,6 +64,9 @@ inline static param_t param_handle(px4::params p)
 #define _CALL_UPDATE(x) \
 	STRIP(x).update();

+#define _SET_PARAMETER_UPDATE(x) \
+	case STRIP(x).handle(): STRIP(x).setValue(parameter_update.changed_param); return;
+
 // define the parameter update method, which will update all parameters.
 // It is marked as 'final', so that wrong usages lead to a compile error (see below)
 #define _DEFINE_PARAMETER_UPDATE_METHOD(...) \
@@ -69,6 +74,11 @@ inline static param_t param_handle(px4::params p)
 	void updateParamsImpl() final { \
 		APPLY_ALL(_CALL_UPDATE, __VA_ARGS__) \
 	} \
+	void updateParamsImpl(const parameter_update_s &parameter_update) { \
+		switch(parameter_update.changed_param.index) { \
+			APPLY_ALL(_SET_PARAMETER_UPDATE, __VA_ARGS__) \
+		} \
+	} \
 	private:

 // Define a list of parameters. This macro also creates code to update parameters.
@@ -88,6 +98,12 @@ inline static param_t param_handle(px4::params p)
 		parent_class::updateParamsImpl(); \
 		APPLY_ALL(_CALL_UPDATE, __VA_ARGS__) \
 	} \
+	void updateParamsImpl(const parameter_update_s &parameter_update) { \
+		parent_class::updateParamsImpl(parameter_update); \
+		switch(parameter_update.changed_param.index) { \
+			APPLY_ALL(_SET_PARAMETER_UPDATE, __VA_ARGS__) \
+		} \
+	} \
 	private:

 #define DEFINE_PARAMETERS_CUSTOM_PARENT(parent_class, ...) \
@@ -125,29 +141,22 @@ public:

 	const float &reference() const { return _val; }

-	/// Store the parameter value to the parameter storage (@see param_set())
-	bool commit() const { return param_set(handle(), &_val) == 0; }
-
-	/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
-	bool commit_no_notification() const { return param_set_no_notification(handle(), &_val) == 0; }
-
 	/// Set and commit a new value. Returns true if the value changed.
-	bool commit_no_notification(float val)
+	bool set(float val)
 	{
 		if (fabsf(val - _val) > FLT_EPSILON) {
-			set(val);
-			commit_no_notification();
-			return true;
+			_val = val;
+			return (param_set(handle(), &_val) == 0);
 		}

 		return false;
 	}

-	void set(float val) { _val = val; }
-
 	bool update() { return param_get(handle(), &_val) == 0; }

-	param_t handle() const { return param_handle(p); }
+	void setValue(const parameter_s &parameter_update) { _val = parameter_update.float32_value; }
+
+	static constexpr param_t handle() { return param_handle(p); }
 private:
 	float _val;
 };
@@ -170,29 +179,18 @@ public:

 	const float &reference() const { return _val; }

-	/// Store the parameter value to the parameter storage (@see param_set())
-	bool commit() const { return param_set(handle(), &_val) == 0; }
-
-	/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
-	bool commit_no_notification() const { return param_set_no_notification(handle(), &_val) == 0; }
-
 	/// Set and commit a new value. Returns true if the value changed.
-	bool commit_no_notification(float val)
+	bool set(float val)
 	{
-		if (fabsf(val - _val) > FLT_EPSILON) {
-			set(val);
-			commit_no_notification();
-			return true;
-		}
-
-		return false;
+		_val = val;
+		return (param_set(handle(), &_val) == 0);
 	}

-	void set(float val) { _val = val; }
-
 	bool update() { return param_get(handle(), &_val) == 0; }

-	param_t handle() const { return param_handle(p); }
+	void setValue(const parameter_s &parameter_update) { _val = parameter_update.float32_value; }
+
+	static constexpr param_t handle() { return param_handle(p); }
 private:
 	float &_val;
 };
@@ -213,29 +211,18 @@ public:

 	const int32_t &reference() const { return _val; }

-	/// Store the parameter value to the parameter storage (@see param_set())
-	bool commit() const { return param_set(handle(), &_val) == 0; }
-
-	/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
-	bool commit_no_notification() const { return param_set_no_notification(handle(), &_val) == 0; }
-
 	/// Set and commit a new value. Returns true if the value changed.
-	bool commit_no_notification(int32_t val)
+	bool set(int32_t val)
 	{
-		if (val != _val) {
-			set(val);
-			commit_no_notification();
-			return true;
-		}
-
-		return false;
+		_val = val;
+		return (param_set(handle(), &_val) == 0);
 	}

-	void set(int32_t val) { _val = val; }
-
 	bool update() { return param_get(handle(), &_val) == 0; }

-	param_t handle() const { return param_handle(p); }
+	void setValue(const parameter_s &parameter_update) { _val = parameter_update.int32_value; }
+
+	static constexpr param_t handle() { return param_handle(p); }
 private:
 	int32_t _val;
 };
@@ -259,28 +246,17 @@ public:
 	const int32_t &reference() const { return _val; }

 	/// Store the parameter value to the parameter storage (@see param_set())
-	bool commit() const { return param_set(handle(), &_val) == 0; }
-
-	/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
-	bool commit_no_notification() const { return param_set_no_notification(handle(), &_val) == 0; }
-
-	/// Set and commit a new value. Returns true if the value changed.
-	bool commit_no_notification(int32_t val)
+	bool set(int32_t val)
 	{
-		if (val != _val) {
-			set(val);
-			commit_no_notification();
-			return true;
-		}
-
-		return false;
+		_val = val;
+		return (param_set(handle(), &_val) == 0);
 	}

-	void set(int32_t val) { _val = val; }
-
 	bool update() { return param_get(handle(), &_val) == 0; }

-	param_t handle() const { return param_handle(p); }
+	void setValue(const parameter_s &parameter_update) { _val = parameter_update.int32_value; }
+
+	static constexpr param_t handle() { return param_handle(p); }
 private:
 	int32_t &_val;
 };
@@ -301,34 +277,14 @@ public:

 	const bool &reference() const { return _val; }

-	/// Store the parameter value to the parameter storage (@see param_set())
-	bool commit() const
-	{
-		int32_t value_int = (int32_t)_val;
-		return param_set(handle(), &value_int) == 0;
-	}
-
-	/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
-	bool commit_no_notification() const
-	{
-		int32_t value_int = (int32_t)_val;
-		return param_set_no_notification(handle(), &value_int) == 0;
-	}
-
 	/// Set and commit a new value. Returns true if the value changed.
-	bool commit_no_notification(bool val)
+	bool set(bool val)
 	{
-		if (val != _val) {
-			set(val);
-			commit_no_notification();
-			return true;
-		}
-
-		return false;
+		_val = val;
+		int32_t value_int = (int32_t)_val;
+		return (param_set(handle(), &value_int) == 0);
 	}

-	void set(bool val) { _val = val; }
-
 	bool update()
 	{
 		int32_t value_int;
@@ -342,7 +298,9 @@ public:
 		return false;
 	}

-	param_t handle() const { return param_handle(p); }
+	void setValue(const parameter_s &parameter_update) { _val = parameter_update.int32_value; }
+
+	static constexpr param_t handle() { return param_handle(p); }
 private:
 	bool _val;
 };
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2019-2022 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2019-2021 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -76,8 +76,6 @@ static constexpr wq_config_t hp_default{"wq:hp_default", 1900, -18};

 static constexpr wq_config_t uavcan{"wq:uavcan", 3624, -19};

-static constexpr wq_config_t parameter_server{"wq:parameter_server", 4096, -20};
-
 static constexpr wq_config_t ttyS0{"wq:ttyS0", 1632, -21};
 static constexpr wq_config_t ttyS1{"wq:ttyS1", 1632, -22};
 static constexpr wq_config_t ttyS2{"wq:ttyS2", 1632, -23};
@@ -85,7 +85,6 @@ public:

 	virtual ~SubscriptionBlocking()
 	{
-		unregisterCallback();
 		pthread_mutex_destroy(&_mutex);
 		pthread_cond_destroy(&_cv);
 	}
@@ -385,7 +385,7 @@ uORB::DeviceNode::print_statistics(int max_topic_length)
 	lock();

 	const uint8_t instance = get_instance();
-	const int8_t sub_count = subscriber_count();
+	const int16_t sub_count = subscriber_count();
 	const uint8_t queue_size = get_queue_size();

 	unlock();
@@ -514,7 +514,7 @@ uORB::DeviceNode::register_callback(uORB::SubscriptionCallback *callback_sub)
 		ATOMIC_ENTER;

 		// prevent duplicate registrations
-		for (const auto &existing_callbacks : _callbacks) {
+		for (auto existing_callbacks : _callbacks) {
 			if (callback_sub == existing_callbacks) {
 				ATOMIC_LEAVE;
 				return true;
@@ -197,7 +197,7 @@ public:

 	uint8_t get_queue_size() const { return _queue_size; }

-	int8_t subscriber_count() const { return _subscriber_count; }
+	int16_t subscriber_count() const { return _subscriber_count; }

 	/**
 	 * Returns the number of updated data relative to the parameter 'generation'
@@ -296,7 +296,7 @@ private:
 	const uint8_t _instance; /**< orb multi instance identifier */
 	bool _advertised{false};  /**< has ever been advertised (not necessarily published data yet) */
 	uint8_t _queue_size; /**< maximum number of elements in the queue */
-	int8_t _subscriber_count{0};
+	int16_t _subscriber_count{0};


 // Determine the data range
@@ -127,6 +127,8 @@ int px4_platform_init()
 	hrt_ioctl_init();
 #endif

+	param_init();
+
 	/* configure CPU load estimation */
 #ifdef CONFIG_SCHED_INSTRUMENTATION
 	cpuload_initialize_once();
@@ -183,8 +185,6 @@ int px4_platform_init()

 	uorb_start();

-	param_init();
-
 	px4_log_initialize();

 #if defined(CONFIG_SYSTEM_CDCACM) && defined(CONFIG_BUILD_FLAT)
@@ -44,12 +44,12 @@ int px4_platform_init(void)
 {
 	hrt_init();

+	param_init();
+
 	px4::WorkQueueManagerStart();

 	uorb_start();

-	param_init();
-
 	px4_log_initialize();

 	return PX4_OK;
@@ -121,19 +121,12 @@ public:
 		//return param_set(handle(), &_val) == 0;
 	}

-	/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
-	bool commit_no_notification() const
-	{
-		return true; // TODO
-		//return param_set_no_notification(handle(), &_val) == 0;
-	}
-
 	/// Set and commit a new value. Returns true if the value changed.
-	bool commit_no_notification(float val)
+	bool commit(float val)
 	{
 		if (fabsf(val - _val) > FLT_EPSILON) {
 			set(val);
-			commit_no_notification();
+			commit();
 			return true;
 		}

@@ -178,19 +171,12 @@ public:
 		return true;
 	}

-	/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
-	bool commit_no_notification() const
-	{
-		return true;
-		//return param_set_no_notification(handle(), &_val) == 0;
-	}
-
 	/// Set and commit a new value. Returns true if the value changed.
-	bool commit_no_notification(float val)
+	bool commit(float val)
 	{
 		if (fabsf(val - _val) > FLT_EPSILON) {
 			set(val);
-			commit_no_notification();
+			commit();
 			return true;
 		}

@@ -233,19 +219,12 @@ public:
 		//return param_set(handle(), &_val) == 0;
 	}

-	/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
-	bool commit_no_notification() const
-	{
-		//return param_set_no_notification(handle(), &_val) == 0;
-		return true;
-	}
-
 	/// Set and commit a new value. Returns true if the value changed.
-	bool commit_no_notification(int32_t val)
+	bool commit(int32_t val)
 	{
 		if (val != _val) {
 			set(val);
-			commit_no_notification();
+			commit();
 			return true;
 		}

@@ -290,19 +269,12 @@ public:
 		//return param_set(handle(), &_val) == 0;
 	}

-	/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
-	bool commit_no_notification() const
-	{
-		return true;
-		//return param_set_no_notification(handle(), &_val) == 0;
-	}
-
 	/// Set and commit a new value. Returns true if the value changed.
-	bool commit_no_notification(int32_t val)
+	bool commit(int32_t val)
 	{
 		if (val != _val) {
 			set(val);
-			commit_no_notification();
+			commit();
 			return true;
 		}

@@ -346,20 +318,12 @@ public:
 		return true;
 	}

-	/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
-	bool commit_no_notification() const
-	{
-		int32_t value_int = (int32_t)_val;
-		//return param_set_no_notification(handle(), &value_int) == 0;
-		return true;
-	}
-
 	/// Set and commit a new value. Returns true if the value changed.
-	bool commit_no_notification(bool val)
+	bool commit(bool val)
 	{
 		if (val != _val) {
 			set(val);
-			commit_no_notification();
+			commit();
 			return true;
 		}

@@ -308,7 +308,7 @@ CameraTrigger::CameraTrigger() :

 		_activation_time = 40.0f;
 		PX4_WARN("Trigger interval too low for PWM interface, setting to 40 ms");
-		param_set_no_notification(_p_activation_time, &(_activation_time));
+		param_set(_p_activation_time, &(_activation_time));
 	}

 	// Advertise critical publishers here, because we cannot advertise in interrupt context
@@ -581,7 +581,7 @@ CameraTrigger::Run()
 			 */
 			if (cmd.param1 > 0.0f) {
 				_distance = cmd.param1;
-				param_set_no_notification(_p_distance, &_distance);
+				param_set(_p_distance, &_distance);

 				_trigger_enabled = true;
 				_trigger_paused = false;
@@ -598,7 +598,7 @@ CameraTrigger::Run()
 			if (cmd.param2 > 0.0f) {
 				if (_camera_interface_mode == CAMERA_INTERFACE_MODE_GPIO) {
 					_activation_time = cmd.param2;
-					param_set_no_notification(_p_activation_time, &(_activation_time));
+					param_set(_p_activation_time, &(_activation_time));
 				}
 			}

@@ -616,14 +616,14 @@ CameraTrigger::Run()

 			if (cmd.param1 > 0.0f) {
 				_interval = cmd.param1;
-				param_set_no_notification(_p_interval, &(_interval));
+				param_set(_p_interval, &_interval);
 			}

 			// We can only control the shutter integration time of the camera in GPIO mode
 			if (cmd.param2 > 0.0f) {
 				if (_camera_interface_mode == CAMERA_INTERFACE_MODE_GPIO) {
 					_activation_time = cmd.param2;
-					param_set_no_notification(_p_activation_time, &_activation_time);
+					param_set(_p_activation_time, &_activation_time);
 				}
 			}

@@ -637,7 +637,7 @@ CameraTrigger::Run()

 			if (cmd.param1 > 0.0f) {
 				_distance = cmd.param1;
-				param_set_no_notification(_p_distance, &_distance);
+				param_set(_p_distance, &_distance);

 				_trigger_enabled = true;
 				_trigger_paused = false;
@@ -654,14 +654,14 @@ CameraTrigger::Run()
 			if (cmd.param2 > 0.0f) {
 				if (_camera_interface_mode == CAMERA_INTERFACE_MODE_GPIO) {
 					_activation_time = cmd.param2;
-					param_set_no_notification(_p_activation_time, &(_activation_time));
+					param_set(_p_activation_time, &_activation_time);
 				}
 			}

 			// Set Param for minimum camera trigger interval
 			if (cmd.param3 > 0.0f) {
 				_min_interval = cmd.param3;
-				param_set_no_notification(_p_min_interval, &(_min_interval));
+				param_set(_p_min_interval, &_min_interval);
 			}

 			if (cmd.param4 >= 2.0f) {
@@ -135,7 +135,7 @@ void DShot::enable_dshot_outputs(const bool enabled)
 			if (dshot_frequency_request != 0) {
 				if (dshot_frequency != 0 && dshot_frequency != dshot_frequency_request) {
 					PX4_WARN("Only supporting a single frequency, adjusting param %s", param_name);
-					param_set_no_notification(handle, &dshot_frequency_param);
+					param_set(handle, &dshot_frequency_param);

 				} else {
 					dshot_frequency = dshot_frequency_request;
@@ -773,7 +773,6 @@ void RCInput::Run()
 		   ) {
 			// RC_INPUT_PROTO auto => locked selection
 			_param_rc_input_proto.set(_rc_scan_state);
-			_param_rc_input_proto.commit();
 		}
 	}
 }
@@ -106,8 +106,6 @@ int SagetechMXS::task_spawn(int argc, char *argv[])
 	return PX4_ERROR;
 }

-
-
 bool SagetechMXS::init()
 {
 	ScheduleOnInterval(UPDATE_INTERVAL_US);	// 50Hz
@@ -117,7 +115,6 @@ bool SagetechMXS::init()
 	if (vehicle_list == nullptr) {
 		if (_adsb_list_max.get() > MAX_VEHICLES_LIMIT) {	// Safety Check
 			_adsb_list_max.set(MAX_VEHICLES_LIMIT);
-			_adsb_list_max.commit();
 			list_size_allocated = MAX_VEHICLES_LIMIT;
 		}

@@ -158,8 +155,7 @@ int SagetechMXS::custom_command(int argc, char *argv[])
 	}

 	if (!strcmp(verb, "ident")) {
-		get_instance()->_adsb_ident.set(1);
-		return get_instance()->_adsb_ident.commit();
+		return get_instance()->_adsb_ident.set(1);
 	}

 	if (!strcmp(verb, "opmode")) {
@@ -170,20 +166,16 @@ int SagetechMXS::custom_command(int argc, char *argv[])
 			return PX4_ERROR;

 		} else if (!strcmp(opmode, "off") || !strcmp(opmode, "0")) {
-			get_instance()->_mxs_op_mode.set(0);
-			return get_instance()->_mxs_op_mode.commit();
+			return get_instance()->_mxs_op_mode.set(0);

 		} else if (!strcmp(opmode, "on") || !strcmp(opmode, "1")) {
-			get_instance()->_mxs_op_mode.set(1);
-			return get_instance()->_mxs_op_mode.commit();
+			return get_instance()->_mxs_op_mode.set(1);

 		} else if (!strcmp(opmode, "stby") || !strcmp(opmode, "2")) {
-			get_instance()->_mxs_op_mode.set(2);
-			return get_instance()->_mxs_op_mode.commit();
+			return get_instance()->_mxs_op_mode.set(2);

 		} else if (!strcmp(opmode, "alt") || !strcmp(opmode, "3")) {
-			get_instance()->_mxs_op_mode.set(3);
-			return get_instance()->_mxs_op_mode.commit();
+			return get_instance()->_mxs_op_mode.set(3);

 		} else {
 			print_usage("Invalid Op Mode");
@@ -207,8 +199,7 @@ int SagetechMXS::custom_command(int argc, char *argv[])
 			return PX4_ERROR;

 		} else {
-			get_instance()->_adsb_squawk.set(sqk);
-			return get_instance()->_adsb_squawk.commit();
+			return get_instance()->_adsb_squawk.set(sqk);
 		}
 	}

@@ -305,7 +296,6 @@ void SagetechMXS::Run()
 			auto_config_installation();
 			auto_config_flightid();
 			_mxs_op_mode.set(sg_op_mode_t::modeStby);
-			_mxs_op_mode.commit();
 			send_targetreq_msg();
 			mxs_state.initialized = true;
 		}
@@ -751,7 +741,6 @@ void SagetechMXS::send_operating_msg()

 	if (mxs_state.op.identOn) {
 		_adsb_ident.set(0);
-		_adsb_ident.commit();
 	}

 	if (_gps.vel_ned_valid) {
@@ -1248,22 +1237,16 @@ int SagetechMXS::handle_fid(const char *fid)
 int SagetechMXS::store_inst_resp()
 {
 	_mxs_op_mode.set(mxs_state.ack.opMode);
-	_mxs_op_mode.commit();
 	_adsb_icao.set(mxs_state.inst.icao);
-	_adsb_icao.commit();
 	_adsb_len_width.set(mxs_state.inst.size);
-	_adsb_len_width.commit();
 	_adsb_emit_type.set(convert_sg_to_emitter_type(mxs_state.inst.emitter));
-	_adsb_emit_type.commit();
 	return PX4_OK;
 }

-
 void SagetechMXS::auto_config_operating()
 {
 	mxs_state.op.opMode = sg_op_mode_t::modeOff;
 	_mxs_op_mode.set(sg_op_mode_t::modeOff);
-	_mxs_op_mode.commit();

 	if (check_valid_squawk(_adsb_squawk.get())) {
 		mxs_state.op.squawk = convert_base_to_decimal(BASE_OCTAL, _adsb_squawk.get());
@@ -701,8 +701,7 @@ UavcanNode::Run()

 	// Check for parameter requests (get/set/list)
 	if (_param_request_sub.updated() && !_param_list_in_progress && !_param_in_progress && !_count_in_progress) {
-
-		parameter_request_s request{};
+		uavcan_parameter_request_s request{};
 		_param_request_sub.copy(&request);

 		if (_param_counts[request.node_id]) {
@@ -710,14 +709,14 @@ UavcanNode::Run()
 			 * We know how many parameters are exposed by this node, so
 			 * process the request.
 			 */
-			if (request.message_type == parameter_request_s::MESSAGE_TYPE_PARAM_REQUEST_READ) {
+			if (request.message_type == uavcan_parameter_request_s::MESSAGE_TYPE_PARAM_REQUEST_READ) {
 				uavcan::protocol::param::GetSet::Request req;

 				if (request.param_index >= 0) {
 					req.index = request.param_index;

 				} else {
-					req.name = (char *)request.name;
+					req.name = (char *)request.param_id;
 				}

 				int call_res = _param_getset_client.call(request.node_id, req);
@@ -730,28 +729,24 @@ UavcanNode::Run()
 					_param_index = request.param_index;
 				}

-			} else if (request.message_type == parameter_request_s::MESSAGE_TYPE_PARAM_SET) {
+			} else if (request.message_type == uavcan_parameter_request_s::MESSAGE_TYPE_PARAM_SET) {
 				uavcan::protocol::param::GetSet::Request req;

 				if (request.param_index >= 0) {
 					req.index = request.param_index;

 				} else {
-					req.name = (char *)request.name;
+					req.name = (char *)request.param_id;
 				}

-				switch (request.type) {
-				case parameter_request_s::TYPE_BOOL:
-					req.value.to<uavcan::protocol::param::Value::Tag::boolean_value>() = request.int32_value;
-					break;
+				if (request.param_type == uavcan_parameter_request_s::PARAM_TYPE_REAL32) {
+					req.value.to<uavcan::protocol::param::Value::Tag::real_value>() = request.real_value;

-				case parameter_request_s::TYPE_FLOAT32:
-					req.value.to<uavcan::protocol::param::Value::Tag::real_value>() = request.float32_value;
-					break;
+				} else if (request.param_type == uavcan_parameter_request_s::PARAM_TYPE_UINT8) {
+					req.value.to<uavcan::protocol::param::Value::Tag::boolean_value>() = request.int_value;

-				default:
-					req.value.to<uavcan::protocol::param::Value::Tag::integer_value>() = request.int32_value;
-					break;
+				} else {
+					req.value.to<uavcan::protocol::param::Value::Tag::integer_value>() = request.int_value;
 				}

 				// Set the dirty bit for this node
@@ -767,7 +762,7 @@ UavcanNode::Run()
 					_param_index = request.param_index;
 				}

-			} else if (request.message_type == parameter_request_s::MESSAGE_TYPE_PARAM_REQUEST_LIST) {
+			} else if (request.message_type == uavcan_parameter_request_s::MESSAGE_TYPE_PARAM_REQUEST_LIST) {
 				// This triggers the _param_list_in_progress case below.
 				_param_index = 0;
 				_param_list_in_progress = true;
@@ -777,8 +772,8 @@ UavcanNode::Run()
 				PX4_DEBUG("starting component-specific param list");
 			}

-		} else if (request.node_id == parameter_request_s::NODE_ID_ALL) {
-			if (request.message_type == parameter_request_s::MESSAGE_TYPE_PARAM_REQUEST_LIST) {
+		} else if (request.node_id == uavcan_parameter_request_s::NODE_ID_ALL) {
+			if (request.message_type == uavcan_parameter_request_s::MESSAGE_TYPE_PARAM_REQUEST_LIST) {
 				/*
 				 * This triggers the _param_list_in_progress case below,
 				 * but additionally iterates over all active nodes.
@@ -1096,24 +1091,24 @@ UavcanNode::cb_getset(const uavcan::ServiceCallResult<uavcan::protocol::param::G
 		if (result.isSuccessful()) {
 			uavcan::protocol::param::GetSet::Response param = result.getResponse();

-			parameter_value_s response{};
+			uavcan_parameter_value_s response{};
 			response.node_id = result.getCallID().server_node_id.get();
-			strncpy(response.param_name, param.name.c_str(), sizeof(response.param_name) - 1);
-			response.param_name[16] = '\0';
+			strncpy(response.param_id, param.name.c_str(), sizeof(response.param_id) - 1);
+			response.param_id[16] = '\0';
 			response.param_index = _param_index;
 			response.param_count = _param_counts[response.node_id];

 			if (param.value.is(uavcan::protocol::param::Value::Tag::integer_value)) {
-				response.type = parameter_request_s::TYPE_INT32;
-				response.int32_value = param.value.to<uavcan::protocol::param::Value::Tag::integer_value>();
+				response.param_type = uavcan_parameter_request_s::PARAM_TYPE_INT64;
+				response.int_value = param.value.to<uavcan::protocol::param::Value::Tag::integer_value>();

 			} else if (param.value.is(uavcan::protocol::param::Value::Tag::real_value)) {
-				response.type = parameter_request_s::TYPE_FLOAT32;
-				response.float32_value = param.value.to<uavcan::protocol::param::Value::Tag::real_value>();
+				response.param_type = uavcan_parameter_request_s::PARAM_TYPE_REAL32;
+				response.real_value = param.value.to<uavcan::protocol::param::Value::Tag::real_value>();

 			} else if (param.value.is(uavcan::protocol::param::Value::Tag::boolean_value)) {
-				response.type = parameter_request_s::TYPE_BOOL;
-				response.int32_value = param.value.to<uavcan::protocol::param::Value::Tag::boolean_value>();
+				response.param_type = uavcan_parameter_request_s::PARAM_TYPE_UINT8;
+				response.int_value = param.value.to<uavcan::protocol::param::Value::Tag::boolean_value>();
 			}

 			_param_response_pub.publish(response);
@@ -75,8 +75,8 @@
 #include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionInterval.hpp>
 #include <uORB/topics/parameter_update.h>
-#include <uORB/topics/parameter_request.h>
-#include <uORB/topics/parameter_value.h>
+#include <uORB/topics/uavcan_parameter_request.h>
+#include <uORB/topics/uavcan_parameter_value.h>
 #include <uORB/topics/vehicle_command_ack.h>

 using namespace time_literals;
@@ -267,7 +267,7 @@ private:
 	uORB::Subscription _vcmd_sub{ORB_ID(vehicle_command)};
 	uORB::Subscription _param_request_sub{ORB_ID(uavcan_parameter_request)};

-	uORB::Publication<parameter_value_s> _param_response_pub{ORB_ID(uavcan_parameter_value)};
+	uORB::Publication<uavcan_parameter_value_s> _param_response_pub{ORB_ID(uavcan_parameter_value)};
 	uORB::Publication<vehicle_command_ack_s>	_command_ack_pub{ORB_ID(vehicle_command_ack)};

 	/*
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2014-2022 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2014-2021 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -68,7 +68,6 @@ add_subdirectory(system_identification EXCLUDE_FROM_ALL)
 add_subdirectory(tecs EXCLUDE_FROM_ALL)
 add_subdirectory(terrain_estimation EXCLUDE_FROM_ALL)
 add_subdirectory(timesync EXCLUDE_FROM_ALL)
-add_subdirectory(tinybson EXCLUDE_FROM_ALL)
 add_subdirectory(tunes EXCLUDE_FROM_ALL)
 add_subdirectory(version EXCLUDE_FROM_ALL)
 add_subdirectory(weather_vane EXCLUDE_FROM_ALL)
@@ -90,9 +90,6 @@ public:
 	// Store the parameter value to the parameter storage (@see param_set())
 	bool commit() { return (param_set(_handle, &_val) == PX4_OK); }

-	// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
-	bool commit_no_notification() { return (param_set_no_notification(_handle, &_val) == PX4_OK); }
-
 	void set(T val) { _val = val; }

 	bool update() override { return (param_get(_handle, &_val) == PX4_OK); }
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2017 - 2022 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2017 - 2020 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -33,6 +33,8 @@

 add_compile_options(${MAX_CUSTOM_OPT_LEVEL})

+add_subdirectory(tinybson)
+
 if (NOT PARAM_DEFAULT_OVERRIDES)
 	set(PARAM_DEFAULT_OVERRIDES "{}")
 endif()
@@ -149,12 +151,6 @@ add_custom_target(parameters_header DEPENDS px4_parameters.hpp)

 set(SRCS)

-set(PX4_PARAM_CLIENT_SRV 1)
-if(PX4_PARAM_CLIENT_SRV)
-	add_compile_definitions(PX4_PARAM_CLIENT_SRV)
-	list(APPEND SRCS parameters_srv.cpp)
-endif()
-
 list(APPEND SRCS parameters.cpp)

 if(BUILD_TESTING)
@@ -163,23 +159,31 @@ else()
 	list(APPEND SRCS param_translation.cpp)
 endif()

+if(${PX4_PLATFORM} STREQUAL "nuttx")
+	add_subdirectory(flashparams)
+
+	# build user-side interface for protected build
+	if(NOT CONFIG_BUILD_FLAT)
+		list(APPEND SRCS parameters_ioctl.cpp)
+		add_library(usr_parameters usr_parameters_if.cpp px4_parameters.hpp)
+		add_dependencies(usr_parameters prebuild_targets)
+		target_compile_definitions(usr_parameters PRIVATE -DMODULE_NAME="usr_parameters")
+	endif()
+endif()
+
 # TODO: find a better way to do this
 if(NOT "${PX4_BOARD}" MATCHES "px4_io")
 	add_library(parameters STATIC EXCLUDE_FROM_ALL
 		${SRCS}
 		px4_parameters.hpp
-		ParameterServer.cpp
-		ParameterServer.hpp
 	)

 	target_link_libraries(parameters PRIVATE perf tinybson px4_platform)

-	target_compile_definitions(parameters PRIVATE -DMODULE_NAME="parameters")
+	target_compile_definitions(parameters PRIVATE -DMODULE_NAME="parameters" -D__KERNEL__)
 	target_compile_options(parameters
 		PRIVATE
 			#-DDEBUG_BUILD
-			#${MAX_CUSTOM_OPT_LEVEL}
-			-O0
 			-Wno-cast-align		# TODO: fix and enable
 			-Wno-sign-compare	# TODO: fix and enable
 	)
@@ -189,7 +193,7 @@ endif()
 add_dependencies(parameters prebuild_targets)

 if(${PX4_PLATFORM} STREQUAL "nuttx")
-	#target_link_libraries(parameters PRIVATE flashparams)
+	target_link_libraries(parameters PRIVATE flashparams)
 endif()

 px4_add_functional_gtest(SRC ParameterTest.cpp LINKLIBS parameters)
@@ -1,516 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include <px4_platform_common/px4_config.h>
-#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
-#include <px4_platform_common/atomic_bitset.h>
-#include <px4_platform_common/defines.h>
-#include <px4_platform_common/posix.h>
-#include <px4_platform_common/sem.h>
-#include <px4_platform_common/shutdown.h>
-#include <containers/Bitset.hpp>
-#include <drivers/drv_hrt.h>
-#include <lib/perf/perf_counter.h>
-
-#include "tinybson/tinybson.h"
-#include "uthash/utarray.h"
-
-#include <uORB/Publication.hpp>
-#include <uORB/Subscription.hpp>
-#include <uORB/SubscriptionCallback.hpp>
-#include <uORB/topics/actuator_armed.h>
-#include <uORB/topics/parameter_request.h>
-#include <uORB/topics/parameter_value.h>
-#include <uORB/topics/parameter_update.h>
-
-#include <uORB/topics/srv_parameter_get_request.h>
-#include <uORB/topics/srv_parameter_get_response.h>
-#include <uORB/topics/srv_parameter_set_request.h>
-#include <uORB/topics/srv_parameter_set_response.h>
-
-#include "param.h"
-#include <parameters/px4_parameters.hpp>
-
-using namespace time_literals;
-
-class ParameterServer : public px4::ScheduledWorkItem
-{
-public:
-	ParameterServer();
-	~ParameterServer() override;
-
-	/**
-	 * Look up a parameter by name.
-	 *
-	 * @param name		The canonical name of the parameter being looked up.
-	 * @return		A handle to the parameter, or PARAM_INVALID if the parameter does not exist.
-	 */
-	param_t findParameter(const char *name, bool notification = true);
-
-	/**
-	 * Return the total number of parameters.
-	 *
-	 * @return		The number of parameters.
-	 */
-	unsigned count() const { return param_info_count; }
-
-	/**
-	 * Return the actually used number of parameters.
-	 *
-	 * @return		The number of parameters.
-	 */
-	unsigned countUsed() const { return _params_active.count(); }
-
-	/**
-	 * Wether a parameter is in use in the system.
-	 *
-	 * @return		True if it has been written or read
-	 */
-	bool isParameterUsed(param_t param) const;
-
-	/**
-	 * Look up a parameter by index.
-	 *
-	 * @param index		An index from 0 to n, where n is param_count()-1.
-	 * @return		A handle to the parameter, or PARAM_INVALID if the index is out of range.
-	 */
-	param_t forIndex(unsigned index) const;
-
-	/**
-	 * Look up an used parameter by index.
-	 *
-	 * @param index		The parameter to obtain the index for.
-	 * @return		The index of the parameter in use, or -1 if the parameter does not exist.
-	 */
-	param_t forUsedIndex(unsigned index) const;
-
-	/**
-	 * Look up the index of a parameter.
-	 *
-	 * @param param		The parameter to obtain the index for.
-	 * @return		The index, or -1 if the parameter does not exist.
-	 */
-	int getParameterIndex(param_t param) const;
-
-	/**
-	 * Look up the index of an used parameter.
-	 *
-	 * @param param		The parameter to obtain the index for.
-	 * @return		The index of the parameter in use, or -1 if the parameter does not exist.
-	 */
-	int getParameterUsedIndex(param_t param) const;
-
-	/**
-	 * Obtain the name of a parameter.
-	 *
-	 * @param param		A handle returned by param_find or passed by param_foreach.
-	 * @return		The name assigned to the parameter, or NULL if the handle is invalid.
-	 */
-	const char *getParameterName(param_t param) const;
-
-	/**
-	 * Obtain the volatile state of a parameter.
-	 *
-	 * @param param		A handle returned by param_find or passed by param_foreach.
-	 * @return			true if the parameter is volatile
-	 */
-	bool isParameterVolatile(param_t param) const;
-
-	/**
-	 * Test whether a parameter's value has changed from the default.
-	 *
-	 * @return		If true, the parameter's value has not been changed from the default.
-	 */
-	bool isParameterValueDefault(param_t param);
-
-	/**
-	 * Test whether a parameter's value has been changed but not saved.
-	 *
-	 * @return		If true, the parameter's value has not been saved.
-	 */
-	bool isParameterValueUnsaved(param_t param);
-
-	/**
-	 * Obtain the type of a parameter.
-	 *
-	 * @param param		A handle returned by param_find or passed by param_foreach.
-	 * @return		The type assigned to the parameter.
-	 */
-	param_type_t getParameterType(param_t param) const;
-
-	/**
-	 * Determine the size of a parameter.
-	 *
-	 * @param param		A handle returned by param_find or passed by param_foreach.
-	 * @return		The size of the parameter's value.
-	 */
-	size_t getParameterSize(param_t param) const;
-
-	/**
-	 * Copy the value of a parameter.
-	 *
-	 * @param param		A handle returned by param_find or passed by param_foreach.
-	 * @param val		Where to return the value, assumed to point to suitable storage for the parameter type.
-	 * @return		Zero if the parameter's value could be returned, nonzero otherwise.
-	 */
-	int getParameterValue(param_t param, void *val);
-
-	/**
-	 * Copy the (airframe-specific) default value of a parameter.
-	 *
-	 * @param param		A handle returned by param_find or passed by param_foreach.
-	 * @param default_val	Where to return the value, assumed to point to suitable storage for the parameter type.
-	 * @return		Zero if the parameter's deafult value could be returned, nonzero otherwise.
-	 */
-	int getParameterDefaultValue(param_t param, void *default_val);
-
-	/**
-	 * Copy the system-wide default value of a parameter.
-	 *
-	 * @param param		A handle returned by param_find or passed by param_foreach.
-	 * @param default_val	Where to return the value, assumed to point to suitable storage for the parameter type.
-	 * @return		Zero if the parameter's deafult value could be returned, nonzero otherwise.
-	 */
-	int getParameterSystemDefaultValue(param_t param, void *default_val);
-
-	/**
-	 * Set the value of a parameter.
-	 *
-	 * @param param		A handle returned by param_find or passed by param_foreach.
-	 * @param val		The value to set; assumed to point to a variable of the parameter type.
-	 * @return		Zero if the parameter's value could be set from a scalar, nonzero otherwise.
-	 */
-	int setParameter(param_t param, const void *val, bool mark_saved = true, bool notify_changes = true);
-
-	/**
-	 * Set the default value of a parameter.
-	 *
-	 * @param param		A handle returned by param_find or passed by param_foreach.
-	 * @param val		The default value to set; assumed to point to a variable of the parameter type.
-	 * @return		Zero if the parameter's default value could be set from a scalar, nonzero otherwise.
-	 */
-	int setParameterDefaultValue(param_t param, const void *val);
-
-	/**
-	 * Notify the system about parameter changes. Can be used for example after several calls to
-	 * param_set_no_notification() to avoid unnecessary system notifications.
-	 */
-	void notifyChanges();
-
-	/**
-	 * Reset all parameters to their default values.
-	 */
-	void resetAllParameters(bool auto_save = true);
-
-	/**
-	 * Reset all parameters to their default values except for excluded parameters.
-	 *
-	 * @param excludes			Array of param names to exclude from resetting. Use a wildcard
-	 *							at the end to exclude parameters with a certain prefix.
-	 * @param num_excludes		The number of excludes provided.
-	 */
-	void resetExcludes(const char *excludes[], int num_excludes);
-
-	/**
-	 * Reset only specific parameters to their default values.
-	 *
-	 * @param resets Array of param names to reset. Use a wildcard at the end to reset parameters with a certain prefix.
-	 * @param num_resets The number of passed reset conditions in the resets array.
-	 */
-	void resetSpecificParameter(const char *resets[], int num_resets);
-
-	/**
-	 * Export changed parameters to a file.
-	 * Note: this method requires a large amount of stack size!
-	 *
-	 * @param filename	Path to the default parameter file.
-	 * @param filter	Filter parameters to be exported. The method should return true if
-	 * 			the parameter should be exported. No filtering if nullptr is passed.
-	 * @return		Zero on success, nonzero on failure.
-	 */
-	typedef bool(*param_filter_func)(param_t handle);
-	int exportToFile(const char *filename, param_filter_func filter);
-
-	/**
-	 * Import parameters from a file, discarding any unrecognized parameters.
-	 *
-	 * This function merges the imported parameters with the current parameter set.
-	 *
-	 * @param fd		File descriptor to import from (-1 selects the FLASH storage).
-	 * @return		Zero on success, nonzero if an error occurred during import.
-	 *			Note that in the failure case, parameters may be inconsistent.
-	 */
-	int importFromFileDescriptor(int fd);
-
-	/**
-	 * Load parameters from a file.
-	 *
-	 * This function resets all parameters to their default values, then loads new
-	 * values from a file.
-	 *
-	 * @param fd		File descriptor to import from (-1 selects the FLASH storage).
-	 * @return		Zero on success, nonzero if an error occurred during import.
-	 *			Note that in the failure case, parameters may be inconsistent.
-	 */
-	int loadFromFileDescriptor(int fd);
-
-	/**
-	 * Apply a function to each parameter.
-	 *
-	 * Note that the parameter set is not locked during the traversal. It also does
-	 * not hold an internal state, so the callback function can block or sleep between
-	 * parameter callbacks.
-	 *
-	 * @param func		The function to invoke for each parameter.
-	 * @param arg		Argument passed to the function.
-	 * @param only_changed	If true, the function is only called for parameters whose values have
-	 *			been changed from the default.
-	 * @param only_used	If true, the function is only called for parameters which have been
-	 *			used in one of the running applications.
-	 */
-	void forEachParameter(void (*func)(void *arg, param_t param), void *arg, bool only_changed, bool only_used);
-
-	/**
-	 * Set the default parameter file name.
-	 * This has no effect if the FLASH-based storage is enabled.
-	 *
-	 * @param filename	Path to the default parameter file.  The file is not required to
-	 *			exist.
-	 * @return		Zero on success.
-	 */
-	int setDefaultFile(const char *filename);
-
-	/**
-	 * Get the default parameter file name.
-	 *
-	 * @return		The path to the current default parameter file; either as
-	 *			a result of a call to param_set_default_file, or the
-	 *			built-in default.
-	 */
-	const char *getDefaultFile() const { return _param_default_file; }
-
-	/**
-	 * Set the backup parameter file name.
-	 *
-	 * @param filename	Path to the backup parameter file. The file is not required to
-	 *			exist.
-	 * @return		Zero on success.
-	 */
-	int setBackupFile(const char *filename);
-
-	/**
-	 * Get the backup parameter file name.
-	 *
-	 * @return		The path to the backup parameter file
-	 */
-	const char *getBackupFile() const { return _param_backup_file; }
-
-	/**
-	 * Automatically save the parameters after a timeout and limited rate.
-	 *
-	 * This needs to be called with the writer lock held (it's not necessary that it's the writer lock, but it
-	 * needs to be the same lock as autosave_worker() and param_control_autosave() use).
-	 */
-	void autoSave(bool now = false);
-
-	/**
-	 * Load parameters from the default parameter file.
-	 *
-	 * @return		Zero on success.
-	 */
-	int loadDefault();
-
-	/**
-	 * Generate the hash of all parameters and their values
-	 *
-	 * @return		CRC32 hash of all param_ids and values
-	 */
-	uint32_t hashCheck();
-
-	/**
-	 * Print the status of the param system
-	 *
-	 */
-	void printStatus();
-
-	/**
-	 * Enable/disable the param autosaving.
-	 * Re-enabling with changed params will not cause an autosave.
-	 * @param enable true: enable autosaving, false: disable autosaving
-	 */
-	void controlAutosave(bool enable);
-
-private:
-
-	static constexpr uint16_t param_info_count = sizeof(px4::parameters) / sizeof(param_info_s);
-
-	/**
-	 * Test whether a param_t is value.
-	 *
-	 * @param param			The parameter handle to test.
-	 * @return			True if the handle is valid.
-	 */
-	static constexpr bool handle_in_range(param_t param) { return (param < param_info_count); }
-
-	void lockReader();   // lock the parameter store for read access
-	void unlockReader(); // unlock the parameter store
-
-	void lockWriter();   // lock the parameter store for write access
-	void unlockWriter(); // unlock the parameter store
-
-	// Storage for modified parameters.
-	struct param_wbuf_s {
-		union param_value_u val {};
-		param_t param{PARAM_INVALID};
-	};
-
-	/**
-	 * Compare two modified parameter structures to determine ordering.
-	 *
-	 * This function is suitable for passing to qsort or bsearch.
-	 */
-	static int compareValues(const void *a, const void *b);
-
-	/**
-	 * Locate the modified parameter structure for a parameter, if it exists.
-	 *
-	 * @param param			The parameter being searched.
-	 * @return			The structure holding the modified value, or
-	 *				nullptr if the parameter has not been modified.
-	*/
-	param_wbuf_s *findChanged(param_t param);
-
-	/**
-	 * Reset a parameter to its default value.
-	 *
-	 * @param param		A handle returned by param_find or passed by param_foreach.
-	 * @return		Zero on success, nonzero on failure
-	 */
-	int resetParameter(param_t param);
-
-	/**
-	 * Obtain a pointer to the storage allocated for a parameter.
-	 *
-	 * @param param			The parameter whose storage is sought.
-	 * @return			A pointer to the parameter value, or nullptr
-	 *				if the parameter does not exist.
-	*/
-	const void *getParameterValuePointer(param_t param);
-
-	// get parameter default value, caller is responsible for locking
-	int getParameterDefaultValueInternal(param_t param, void *default_val);
-
-	/**
-	 * Save parameters to the default file.
-	 * Note: this method requires a large amount of stack size!
-	 *
-	 * This function saves all parameters with non-default values.
-	 *
-	 * @return		Zero on success.
-	 */
-	int saveDefault();
-
-	// internal parameter export, caller is responsible for locking
-	int exportInternal(int fd, param_filter_func filter);
-
-	int bsonImportCallback(bson_decoder_t decoder, bson_node_t node);
-	static int importCallbackTrampoline(bson_decoder_t decoder, void *priv, bson_node_t node);
-	int importFromFileDescriptorInternal(int fd);
-
-	int verifyBsonExportCallback(bson_decoder_t decoder, bson_node_t node);
-	static int verifyBsonExportTrampoline(bson_decoder_t decoder, void *priv, bson_node_t node);
-	int verifyBsonExport(int fd);
-
-	char *_param_default_file{nullptr};
-	char *_param_backup_file{nullptr};
-
-	px4::AtomicBitset<param_info_count> _params_active;  // params found
-	px4::AtomicBitset<param_info_count> _params_changed; // params non-default
-	px4::Bitset<param_info_count> _params_custom_default; // params with runtime default value
-	px4::AtomicBitset<param_info_count> _params_unsaved;
-
-	/** flexible array holding modified parameter values */
-	UT_array *_param_values{nullptr};
-	UT_array *_param_custom_default_values{nullptr};
-
-	const UT_icd param_icd = {sizeof(param_wbuf_s), nullptr, nullptr, nullptr};
-
-	unsigned int _param_instance{0};
-
-	// the following implements an RW-lock using 2 semaphores (used as mutexes). It gives
-	// priority to readers, meaning a writer could suffer from starvation, but in our use-case
-	// we only have short periods of reads and writes are rare.
-	px4_sem_t _param_sem; ///< this protects against concurrent access to _param_values
-	int _reader_lock_holders{0};
-	px4_sem_t _reader_lock_holders_lock; ///< this protects against concurrent access to reader_lock_holders
-
-	perf_counter_t _export_perf{perf_alloc(PC_ELAPSED, "param: export")};
-	perf_counter_t _find_count_perf{perf_alloc(PC_COUNT, "param: find")};
-	perf_counter_t _get_count_perf{perf_alloc(PC_COUNT, "param: get")};
-	perf_counter_t _set_perf{perf_alloc(PC_ELAPSED, "param: set")};
-
-	px4_sem_t _param_sem_save; ///< this protects against concurrent param saves (file or flash access).
-	///< we use a separate lock to allow concurrent param reads and saves.
-	///< a param_set could still be blocked by a param save, because it
-	///< needs to take the reader lock
-
-
-	void Run() override;
-
-	uORB::Publication<parameter_update_s> _parameter_update_pub{ORB_ID(parameter_update)};
-
-	// srv: parameter_get
-	uORB::SubscriptionCallbackWorkItem _srv_parameter_get_request_sub{this, ORB_ID(srv_parameter_get_request)};
-	uORB::Publication<srv_parameter_get_response_s> _srv_parameter_get_response_pub{ORB_ID(srv_parameter_get_response)};
-
-	// srv: parameter_set
-	uORB::SubscriptionCallbackWorkItem _srv_parameter_set_request_sub{this, ORB_ID(srv_parameter_set_request)};
-	uORB::Publication<srv_parameter_set_response_s> _srv_parameter_set_response_pub{ORB_ID(srv_parameter_set_response)};
-
-	// TODO: replace
-	uORB::Publication<parameter_value_s> _param_response_pub{ORB_ID(parameter_value)};
-	uORB::SubscriptionCallbackWorkItem _param_request_sub{this, ORB_ID(parameter_request)};
-
-	uORB::SubscriptionData<actuator_armed_s> _armed_sub{ORB_ID(actuator_armed)};
-
-
-	// autosaving variables
-	hrt_abstime _last_autosave_timestamp{0};
-	px4::atomic_bool _autosave_scheduled{false};
-	bool _autosave_disabled{false};
-
-	px4::atomic_bool _notify_scheduled{false};
-
-};
@@ -55,7 +55,7 @@
 #include <parameters/param.h>

 #include "../uthash/utarray.h"
-#include <lib/tinybson/tinybson.h>
+#include <parameters/tinybson/tinybson.h>
 #include "flashparams.h"
 #include "flashfs.h"
 #include "../param_translation.h"
@@ -87,12 +87,12 @@ param_export_internal(param_filter_func filter)
 	bson_encoder_init_buf(&encoder, nullptr, 0);

 	/* no modified parameters -> we are done */
-	if (_param_values == nullptr) {
+	if (param_values == nullptr) {
 		result = 0;
 		goto out;
 	}

-	while ((s = (struct param_wbuf_s *)utarray_next(_param_values, s)) != nullptr) {
+	while ((s = (struct param_wbuf_s *)utarray_next(param_values, s)) != nullptr) {

 		int32_t i;
 		float   f;
@@ -103,12 +103,12 @@ param_export_internal(param_filter_func filter)

 		/* append the appropriate BSON type object */

-		switch (getParameterType(s->param)) {
+		switch (param_type(s->param)) {
 		case PARAM_TYPE_INT32:
 			i = s->val.i;

-			if (bson_encoder_append_int32(&encoder, getParameterName(s->param), i)) {
-				debug("BSON append failed for '%s'", getParameterName(s->param));
+			if (bson_encoder_append_int32(&encoder, param_name(s->param), i)) {
+				debug("BSON append failed for '%s'", param_name(s->param));
 				goto out;
 			}

@@ -117,8 +117,8 @@ param_export_internal(param_filter_func filter)
 		case PARAM_TYPE_FLOAT:
 			f = s->val.f;

-			if (bson_encoder_append_double(&encoder, getParameterName(s->param), f)) {
-				debug("BSON append failed for '%s'", getParameterName(s->param));
+			if (bson_encoder_append_double(&encoder, param_name(s->param), f)) {
+				debug("BSON append failed for '%s'", param_name(s->param));
 				goto out;
 			}

@@ -214,7 +214,7 @@ param_import_callback(bson_decoder_t decoder, bson_node_t node)

 	switch (node->type) {
 	case BSON_INT32:
-		if (getParameterType(param) != PARAM_TYPE_INT32) {
+		if (param_type(param) != PARAM_TYPE_INT32) {
 			PX4_WARN("unexpected type for %s", node->name);
 			result = 1; // just skip this entry
 			goto out;
@@ -225,7 +225,7 @@ param_import_callback(bson_decoder_t decoder, bson_node_t node)
 		break;

 	case BSON_DOUBLE:
-		if (getParameterType(param) != PARAM_TYPE_FLOAT) {
+		if (param_type(param) != PARAM_TYPE_FLOAT) {
 			PX4_WARN("unexpected type for %s", node->name);
 			result = 1; // just skip this entry
 			goto out;
@@ -241,7 +241,7 @@ param_import_callback(bson_decoder_t decoder, bson_node_t node)
 		goto out;
 	}

-	if (param_set_external(param, v, true, true)) {
+	if (param_set_external(param, v, true)) {
 		debug("error setting value for '%s'", node->name);
 		goto out;
 	}
@@ -58,7 +58,7 @@ __BEGIN_DECLS
 */

 __EXPORT extern UT_array        *param_values;
-__EXPORT int param_set_external(param_t param, const void *val, bool mark_saved, bool notify_changes);
+__EXPORT int param_set_external(param_t param, const void *val, bool mark_saveds);
 __EXPORT const void *param_get_value_ptr_external(param_t param);

 /* The interface hooks to the Flash based storage. The caller is responsible for locking */
@@ -242,21 +242,6 @@ __EXPORT int		param_set(param_t param, const void *val);
 */
 __EXPORT int		param_set_default_value(param_t param, const void *val);

-/**
- * Set the value of a parameter, but do not notify the system about the change.
- *
- * @param param		A handle returned by param_find or passed by param_foreach.
- * @param val		The value to set; assumed to point to a variable of the parameter type.
- * @return		Zero if the parameter's value could be set from a scalar, nonzero otherwise.
- */
-__EXPORT int		param_set_no_notification(param_t param, const void *val);
-
-/**
- * Notify the system about parameter changes. Can be used for example after several calls to
- * param_set_no_notification() to avoid unnecessary system notifications.
- */
-__EXPORT void		param_notify_changes(void);
-
 /**
 * Reset all parameters to their default values.
 */
@@ -271,6 +256,8 @@ __EXPORT void		param_reset_all(void);
 */
 __EXPORT void		param_reset_excludes(const char *excludes[], int num_excludes);

+typedef bool(*param_filter_func)(param_t handle);
+
 /**
 * Reset only specific parameters to their default values.
 *
@@ -288,7 +275,6 @@ __EXPORT void		param_reset_specific(const char *resets[], int num_resets);
 * 			the parameter should be exported. No filtering if nullptr is passed.
 * @return		Zero on success, nonzero on failure.
 */
-typedef bool(*param_filter_func)(param_t handle);
 __EXPORT int		param_export(const char *filename, param_filter_func filter);

 /**
@@ -314,6 +300,17 @@ __EXPORT int		param_import(int fd);
 */
 __EXPORT int		param_load(int fd);

+/**
+ * Read saved parameters from file and dump to console.
+ *
+ * This function reads the file and dumps all contents to console
+ * values from a file.
+ *
+ * @param fd		File descriptor to read from.
+ * @return		Zero on success, nonzero if an error occurred during import.
+ */
+__EXPORT int		param_dump(int fd);
+
 /**
 * Apply a function to each parameter.
 *
@@ -156,7 +156,7 @@ bool param_modify_on_import(bson_node_t node)
 			// If was in range height mode, set range aiding to "always"
 			if (node->i32 == 2) {
 				int32_t rng_mode = 2;
-				param_set_no_notification(param_find("EKF2_RNG_CTRL"), &rng_mode);
+				param_set(param_find("EKF2_RNG_CTRL"), &rng_mode);
 			}

 			PX4_INFO("param migrating EKF2_HGT_MODE (removed) -> EKF2_HGT_REF: value=%" PRId32, node->i32);
@@ -0,0 +1,139 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <string.h>
+
+/**
+ * @file parameters_common.cpp
+ *
+ * Global parameter store, functions common to kernel and user sides
+ *
+ */
+
+static constexpr uint16_t param_info_count = sizeof(px4::parameters) / sizeof(param_info_s);
+
+/**
+ * Test whether a param_t is value.
+ *
+ * @param param			The parameter handle to test.
+ * @return			True if the handle is valid.
+ */
+static constexpr bool handle_in_range(param_t param) { return (param < param_info_count); }
+
+unsigned param_count()
+{
+	return param_info_count;
+}
+
+int param_get_index(param_t param)
+{
+	if (handle_in_range(param)) {
+		return (unsigned)param;
+	}
+
+	return -1;
+}
+
+param_t param_for_index(unsigned index)
+{
+	if (index < param_info_count) {
+		return (param_t)index;
+	}
+
+	return PARAM_INVALID;
+}
+
+const char *param_name(param_t param)
+{
+	return handle_in_range(param) ? px4::parameters[param].name : nullptr;
+}
+
+param_type_t param_type(param_t param)
+{
+	return handle_in_range(param) ? px4::parameters_type[param] : PARAM_TYPE_UNKNOWN;
+}
+
+bool param_is_volatile(param_t param)
+{
+	if (handle_in_range(param)) {
+		for (const auto &p : px4::parameters_volatile) {
+			if (static_cast<px4::params>(param) == p) {
+				return true;
+			}
+		}
+	}
+
+	return false;
+}
+
+static size_t param_size(param_t param)
+{
+	if (handle_in_range(param)) {
+		switch (param_type(param)) {
+		case PARAM_TYPE_INT32:
+		case PARAM_TYPE_FLOAT:
+			return 4;
+
+		default:
+			return 0;
+		}
+	}
+
+	return 0;
+}
+
+int
+param_get_system_default_value(param_t param, void *default_val)
+{
+	if (!handle_in_range(param)) {
+		return PX4_ERROR;
+	}
+
+	int ret = PX4_OK;
+
+	switch (param_type(param)) {
+	case PARAM_TYPE_INT32:
+		memcpy(default_val, &px4::parameters[param].val.i, param_size(param));
+		break;
+
+	case PARAM_TYPE_FLOAT:
+		memcpy(default_val, &px4::parameters[param].val.f, param_size(param));
+		break;
+
+	default:
+		ret = PX4_ERROR;
+		break;
+	}
+
+	return ret;
+}
@@ -0,0 +1,170 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 Technology Innovation Institute. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file parameters_ioctl.cpp
+ *
+ * Protected build kernel space interface to global parameter store.
+ */
+
+#define PARAM_IMPLEMENTATION
+
+#include <errno.h>
+
+#include "param.h"
+#include "parameters_ioctl.h"
+#include <px4_platform_common/defines.h>
+
+int	param_ioctl(unsigned int cmd, unsigned long arg)
+{
+	int ret = OK;
+
+	switch (cmd) {
+	case PARAMIOCFIND: {
+			paramiocfind_t *data = (paramiocfind_t *)arg;
+
+			if (data->notification) {
+				data->ret = param_find(data->name);
+
+			} else {
+				data->ret = param_find_no_notification(data->name);
+			}
+		}
+		break;
+
+	case PARAMIOCCOUNTUSED: {
+			paramioccountused_t *data = (paramioccountused_t *)arg;
+			data->ret = param_count_used();
+		}
+		break;
+
+	case PARAMIOCFORUSEDINDEX: {
+			paramiocforusedindex_t *data = (paramiocforusedindex_t *)arg;
+			data->ret =  param_for_used_index(data->index);
+		}
+		break;
+
+	case PARAMIOCGETUSEDINDEX: {
+			paramiocgetusedindex_t *data = (paramiocgetusedindex_t *)arg;
+			data->ret = param_get_used_index(data->param);
+		}
+		break;
+
+	case PARAMIOCUNSAVED: {
+			paramiocunsaved_t *data = (paramiocunsaved_t *)arg;
+			data->ret = param_value_unsaved(data->param);
+		}
+		break;
+
+	case PARAMIOCGET: {
+			paramiocget_t *data = (paramiocget_t *)arg;
+
+			if (data->deflt) {
+				data->ret = param_get_default_value(data->param, data->val);
+
+			} else {
+				data->ret = param_get(data->param, data->val);
+			}
+		}
+		break;
+
+	case PARAMIOCAUTOSAVE: {
+			paramiocautosave_t *data = (paramiocautosave_t *)arg;
+			param_control_autosave(data->enable);
+		}
+		break;
+
+	case PARAMIOCSET: {
+			paramiocset_t *data = (paramiocset_t *)arg;
+			data->ret = param_set(data->param, data->val);
+		}
+		break;
+
+	case PARAMIOCUSED: {
+			paramiocused_t *data = (paramiocused_t *)arg;
+			data->ret = param_used(data->param);
+		}
+		break;
+
+	case PARAMIOCSETDEFAULT: {
+			paramiocsetdefault_t *data = (paramiocsetdefault_t *)arg;
+			data->ret = param_set_default_value(data->param, data->val);
+		}
+		break;
+
+	case PARAMIOCRESETGROUP: {
+			paramiocresetgroup_t *data = (paramiocresetgroup_t *)arg;
+
+			if (data->type == PARAM_RESET_EXCLUDES) {
+				param_reset_excludes(data->group, data->num_in_group);
+
+			} else if (data->type == PARAM_RESET_SPECIFIC) {
+				param_reset_specific(data->group, data->num_in_group);
+
+			} else {
+				param_reset_all();
+			}
+		}
+		break;
+
+	case PARAMIOCSAVEDEFAULT: {
+			paramiocsavedefault_t *data = (paramiocsavedefault_t *)arg;
+			data->ret = param_save_default();
+		}
+		break;
+
+	case PARAMIOCLOADDEFAULT: {
+			paramiocloaddefault_t *data = (paramiocloaddefault_t *)arg;
+			data->ret = param_load_default();
+		}
+		break;
+
+	case PARAMIOCEXPORT: {
+			paramiocexport_t *data = (paramiocexport_t *)arg;
+			data->ret = param_export(data->filename, nullptr);
+		}
+		break;
+
+	case PARAMIOCHASH: {
+			paramiochash_t *data = (paramiochash_t *)arg;
+			data->ret = param_hash_check();
+		}
+		break;
+
+	default:
+		ret = -ENOTTY;
+		break;
+	}
+
+	return ret;
+}
@@ -0,0 +1,151 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 Technology Innovation Institute. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file parameters_ioctl.h
+ *
+ * User space - kernel space interface to global parameter store.
+ */
+
+#pragma once
+
+#define PARAM_IMPLEMENTATION
+#include "param.h"
+#include <px4_platform/board_ctrl.h>
+#include <px4_platform_common/defines.h>
+
+#define _PARAMIOC(_n) (_PX4_IOC(_PARAMIOCBASE, _n))
+
+#define PARAMIOCNOTIFY	_PARAMIOC(1)
+
+#define PARAMIOCFIND	_PARAMIOC(2)
+typedef struct paramiocfind {
+	const char *name;
+	const bool notification;
+	param_t ret;
+} paramiocfind_t;
+
+
+#define PARAMIOCCOUNTUSED	_PARAMIOC(3)
+typedef struct paramioccountused {
+	unsigned ret;
+} paramioccountused_t;
+
+#define PARAMIOCFORUSEDINDEX	_PARAMIOC(4)
+typedef struct paramiocforusedindex {
+	const unsigned index;
+	param_t ret;
+} paramiocforusedindex_t;
+
+#define PARAMIOCGETUSEDINDEX	_PARAMIOC(5)
+typedef struct paramiocgetusedindex {
+	const param_t param;
+	unsigned ret;
+} paramiocgetusedindex_t;
+
+#define PARAMIOCUNSAVED	_PARAMIOC(6)
+typedef struct paramiocunsaved {
+	const param_t param;
+	bool ret;
+} paramiocunsaved_t;
+
+#define PARAMIOCGET	_PARAMIOC(7)
+typedef struct paramiocget {
+	const param_t param;
+	const bool deflt;
+	void *const val;
+	int ret;
+} paramiocget_t;
+
+#define PARAMIOCAUTOSAVE	_PARAMIOC(8)
+typedef struct paramiocautosave {
+	const bool enable;
+} paramiocautosave_t;
+
+#define PARAMIOCSET	_PARAMIOC(9)
+typedef struct paramiocset {
+	const param_t param;
+	const bool notification;
+	const void *val;
+	int ret;
+} paramiocset_t;
+
+#define PARAMIOCUSED	_PARAMIOC(10)
+typedef struct paramiocused {
+	const param_t param;
+	bool ret;
+} paramiocused_t;
+
+#define PARAMIOCSETDEFAULT	_PARAMIOC(12)
+typedef struct paramiocsetdefault {
+	const param_t param;
+	const void *val;
+	int ret;
+} paramiocsetdefault_t;
+
+#define PARAMIOCRESETGROUP	_PARAMIOC(14)
+typedef enum {
+	PARAM_RESET_ALL,
+	PARAM_RESET_EXCLUDES,
+	PARAM_RESET_SPECIFIC
+} param_reset_type_t;
+
+typedef struct paramiocresetgroup {
+	param_reset_type_t type;
+	const char **group;
+	const int num_in_group;
+} paramiocresetgroup_t;
+
+#define PARAMIOCSAVEDEFAULT	_PARAMIOC(15)
+typedef struct paramiocsavedefault {
+	int ret;
+} paramiocsavedefault_t;
+
+#define PARAMIOCLOADDEFAULT	_PARAMIOC(16)
+typedef struct paramiocloaddefault {
+	int ret;
+} paramiocloaddefault_t;
+
+
+#define PARAMIOCEXPORT	_PARAMIOC(17)
+typedef struct paramiocexport {
+	const char *filename;
+	int ret;
+} paramiocexport_t;
+
+#define PARAMIOCHASH	_PARAMIOC(18)
+typedef struct paramiochash {
+	uint32_t ret;
+} paramiochash_t;
+
+int param_ioctl(unsigned int cmd, unsigned long arg);
@@ -1,189 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012-2022 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file parameters.cpp
- *
- * Global parameter store.
- *
- * Note that it might make sense to convert this into a driver.  That would
- * offer some interesting options regarding state for e.g. ORB advertisements
- * and background parameter saving.
- */
-
-#define PARAM_IMPLEMENTATION
-
-#include "param.h"
-
-#if defined(PX4_PARAM_CLIENT_SRV)
-
-#include <uORB/SubscriptionBlocking.hpp>
-#include <uORB/Publication.hpp>
-
-#include <uORB/topics/srv_parameter_get_request.h>
-#include <uORB/topics/srv_parameter_get_response.h>
-
-#include <uORB/topics/srv_parameter_set_request.h>
-#include <uORB/topics/srv_parameter_set_response.h>
-
-using namespace time_literals;
-
-param_t param_find(const char *name)
-{
-	// request
-	uORB::Publication<srv_parameter_get_request_s> request_pub{ORB_ID(srv_parameter_get_request)};
-	uORB::SubscriptionBlocking<srv_parameter_get_response_s> response_sub{ORB_ID(srv_parameter_get_response)};
-	srv_parameter_get_request_s request{};
-	request.index = -1;
-	memcpy(request.name, name, 16);
-	request.timestamp = hrt_absolute_time();
-	request_pub.publish(request);
-
-	// response
-	while ((hrt_elapsed_time(&request.timestamp) < 50_ms) || response_sub.updated()) {
-		const unsigned last_generation = response_sub.get_last_generation();
-		srv_parameter_get_response_s response{};
-
-		if (response_sub.updateBlocking(response, 1'000)) {
-
-			if (response_sub.get_last_generation() != last_generation + 1) {
-				PX4_ERR("param_find: missed srv_parameter_get_response, generation %d -> %d", last_generation,
-					response_sub.get_last_generation());
-			}
-
-			if ((request.timestamp == response.timestamp_requested)
-			    && (strncmp(request.name, response.parameter.name, sizeof(request.name)) == 0)) {
-
-				return response.parameter.index;
-			}
-		}
-	}
-
-	return PARAM_INVALID;
-}
-
-param_t param_find_no_notification(const char *name)
-{
-	return param_find(name);
-}
-
-int param_get(param_t param, void *val)
-{
-	// request
-	uORB::Publication<srv_parameter_get_request_s> request_pub{ORB_ID(srv_parameter_get_request)};
-	uORB::SubscriptionBlocking<srv_parameter_get_response_s> response_sub{ORB_ID(srv_parameter_get_response)};
-	srv_parameter_get_request_s request{};
-	request.index = param;
-	request.timestamp = hrt_absolute_time();
-	request_pub.publish(request);
-
-	// response
-	while ((hrt_elapsed_time(&request.timestamp) < 50_ms) || response_sub.updated()) {
-		const unsigned last_generation = response_sub.get_last_generation();
-		srv_parameter_get_response_s response{};
-
-		if (response_sub.updateBlocking(response, 1'000)) {
-
-			if (response_sub.get_last_generation() != last_generation + 1) {
-				PX4_ERR("param_get: missed srv_parameter_get_response, generation %d -> %d", last_generation,
-					response_sub.get_last_generation());
-			}
-
-			if ((request.timestamp == response.timestamp_requested) && (request.index == response.parameter.index)) {
-				switch (response.parameter.type) {
-				case parameter_s::TYPE_INT32:
-					memcpy(val, &response.parameter.int32_value, sizeof(int32_t));
-					break;
-
-				case parameter_s::TYPE_FLOAT32:
-					memcpy(val, &response.parameter.float32_value, sizeof(float));
-					break;
-				}
-
-				if (response.result == srv_parameter_get_response_s::RESULT_GET_SUCCESS) {
-					return 0;
-				}
-
-				return -1;
-			}
-		}
-	}
-
-	return -1;
-}
-
-int param_set(param_t param, const void *val)
-{
-	// request
-	uORB::Publication<srv_parameter_set_request_s> request_pub{ORB_ID(srv_parameter_set_request)};
-	uORB::SubscriptionBlocking<srv_parameter_set_response_s> response_sub{ORB_ID(srv_parameter_set_response)};
-	srv_parameter_set_request_s request{};
-	request.parameter.index = param;
-	memcpy(&request.parameter.int32_value, val, sizeof(int32_t));
-	memcpy(&request.parameter.float32_value, val, sizeof(float));
-	request.timestamp = hrt_absolute_time();
-	request_pub.publish(request);
-
-	// response
-	while ((hrt_elapsed_time(&request.timestamp) < 50_ms) || response_sub.updated()) {
-		const unsigned last_generation = response_sub.get_last_generation();
-		srv_parameter_set_response_s response{};
-
-		if (response_sub.updateBlocking(response, 1'000)) {
-
-			if (response_sub.get_last_generation() != last_generation + 1) {
-				PX4_ERR("param_set: missed srv_parameter_set_response, generation %d -> %d", last_generation,
-					response_sub.get_last_generation());
-			}
-
-			if ((request.timestamp == response.timestamp_requested) && (request.parameter.index == response.parameter.index)) {
-				if (response.result == srv_parameter_set_response_s::RESULT_SET_SUCCESS) {
-					return 0;
-				}
-
-				PX4_ERR("param_set %d failed", param);
-				return -1;
-			}
-		}
-	}
-
-	PX4_ERR("param_set %d failed", param);
-	return -1;
-}
-
-int param_set_no_notification(param_t param, const void *val)
-{
-	return param_set(param, val);
-}
-
-#endif // PX4_PARAM_CLIENT_SRV
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2018-2022 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2018 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -31,15 +31,7 @@
 #
 ############################################################################

-add_library(tinybson
-	tinybson.cpp
-	tinybson.h
-)
+add_library(tinybson tinybson.cpp)
 target_compile_definitions(tinybson PRIVATE -DMODULE_NAME="tinybson")
-target_compile_options(tinybson
-	PRIVATE
-		-Wno-sign-compare # TODO: fix this
-		${MAX_CUSTOM_OPT_LEVEL}
-)
-
+target_compile_options(tinybson PRIVATE -Wno-sign-compare) # TODO: fix this
 add_dependencies(tinybson prebuild_targets)
@@ -115,11 +115,10 @@ read_double(bson_decoder_t decoder, double *d)
 }

 int
-bson_decoder_init_file(bson_decoder_t decoder, int fd, bson_decoder_callback callback, void *priv)
+bson_decoder_init_file(bson_decoder_t decoder, int fd, bson_decoder_callback callback)
 {
 	decoder->fd = fd;
 	decoder->callback = callback;
-	decoder->priv = priv;
 	decoder->nesting = 1;
 	decoder->node.type = BSON_UNDEFINED;

@@ -135,7 +134,7 @@ bson_decoder_init_file(bson_decoder_t decoder, int fd, bson_decoder_callback cal
 }

 int
-bson_decoder_init_buf(bson_decoder_t decoder, void *buf, unsigned bufsize, bson_decoder_callback callback, void *priv)
+bson_decoder_init_buf(bson_decoder_t decoder, void *buf, unsigned bufsize, bson_decoder_callback callback)
 {
 	/* argument sanity */
 	if ((buf == nullptr) || (callback == nullptr)) {
@@ -156,7 +155,6 @@ bson_decoder_init_buf(bson_decoder_t decoder, void *buf, unsigned bufsize, bson_

 	decoder->bufpos = 0;
 	decoder->callback = callback;
-	decoder->priv = priv;
 	decoder->nesting = 1;
 	decoder->pending = 0;
 	decoder->node.type = BSON_UNDEFINED;
@@ -317,7 +315,7 @@ bson_decoder_next(bson_decoder_t decoder)
 	}

 	/* call the callback and pass its results back */
-	return decoder->callback(decoder, decoder->priv, &decoder->node);
+	return decoder->callback(decoder, &decoder->node);
 }

 int
@@ -101,7 +101,7 @@ typedef struct bson_decoder_s *bson_decoder_t;
 *
 * The node callback function's return value is returned by bson_decoder_next.
 */
-typedef int	(* bson_decoder_callback)(bson_decoder_t decoder, void *priv, bson_node_t node);
+typedef int	(* bson_decoder_callback)(bson_decoder_t decoder, bson_node_t node);

 struct bson_decoder_s {
 	/* file reader state */
@@ -114,7 +114,6 @@ struct bson_decoder_s {

 	bool			dead{false};
 	bson_decoder_callback	callback;
-	void			*priv{nullptr};
 	unsigned		nesting{0};
 	struct bson_node_s	node {};
 	int32_t			pending{0};
@@ -136,10 +135,9 @@ struct bson_decoder_s {
 * @param decoder		Decoder state structure to be initialised.
 * @param fd			File to read BSON data from.
 * @param callback		Callback to be invoked by bson_decoder_next
- * @param priv                 Callback private data, stored in node.
 * @return			Zero on success.
 */
-__EXPORT int bson_decoder_init_file(bson_decoder_t decoder, int fd, bson_decoder_callback callback, void *priv);
+__EXPORT int bson_decoder_init_file(bson_decoder_t decoder, int fd, bson_decoder_callback callback);

 /**
 * Initialise the decoder to read from a buffer in memory.
@@ -150,11 +148,9 @@ __EXPORT int bson_decoder_init_file(bson_decoder_t decoder, int fd, bson_decoder
 *				passed as zero if the buffer size should be extracted from the
 *				BSON header only.
 * @param callback		Callback to be invoked by bson_decoder_next
- * @param priv		        Callback private data, stored in node.
 * @return			Zero on success.
 */
-__EXPORT int bson_decoder_init_buf(bson_decoder_t decoder, void *buf, unsigned bufsize, bson_decoder_callback callback,
-				   void *priv);
+__EXPORT int bson_decoder_init_buf(bson_decoder_t decoder, void *buf, unsigned bufsize, bson_decoder_callback callback);

 /**
 * Process the next node from the stream and invoke the callback.
@@ -0,0 +1,188 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 Technology Innovation Institute. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file usr_parameters_if.cpp
+ *
+ * Protected build user space interface to global parameter store.
+ */
+#define PARAM_IMPLEMENTATION
+#include "param.h"
+#include "parameters_ioctl.h"
+#include <parameters/px4_parameters.hpp>
+#include <sys/boardctl.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/log.h>
+
+#include "parameters_common.cpp"
+
+param_t param_find(const char *name)
+{
+	paramiocfind_t data = {name, true, PARAM_INVALID};
+	boardctl(PARAMIOCFIND, reinterpret_cast<unsigned long>(&data));
+	return data.ret;
+}
+
+param_t param_find_no_notification(const char *name)
+{
+	paramiocfind_t data = {name, false, PARAM_INVALID};
+	boardctl(PARAMIOCFIND, reinterpret_cast<unsigned long>(&data));
+	return data.ret;
+}
+
+unsigned param_count_used()
+{
+	paramioccountused_t data = {0};
+	boardctl(PARAMIOCCOUNTUSED, reinterpret_cast<unsigned long>(&data));
+	return data.ret;
+}
+
+param_t param_for_used_index(unsigned index)
+{
+	paramiocforusedindex_t data = {index, 0};
+	boardctl(PARAMIOCFORUSEDINDEX, reinterpret_cast<unsigned long>(&data));
+	return data.ret;
+}
+
+int param_get_used_index(param_t param)
+{
+	paramiocgetusedindex_t data = {param, 0};
+	boardctl(PARAMIOCGETUSEDINDEX, reinterpret_cast<unsigned long>(&data));
+	return data.ret;
+}
+
+bool
+param_value_unsaved(param_t param)
+{
+	paramiocunsaved_t data = {param, false};
+	boardctl(PARAMIOCUNSAVED, reinterpret_cast<unsigned long>(&data));
+	return data.ret;
+}
+
+int
+param_get(param_t param, void *val)
+{
+	paramiocget_t data = {param, false, val, PX4_ERROR};
+	boardctl(PARAMIOCGET, reinterpret_cast<unsigned long>(&data));
+	return data.ret;
+}
+
+int
+param_get_default_value(param_t param, void *default_val)
+{
+	paramiocget_t data = {param, true, default_val, PX4_ERROR};
+	boardctl(PARAMIOCGET, reinterpret_cast<unsigned long>(&data));
+	return data.ret;
+}
+
+void
+param_control_autosave(bool enable)
+{
+	paramiocautosave_t data = {enable};
+	boardctl(PARAMIOCAUTOSAVE, reinterpret_cast<unsigned long>(&data));
+}
+
+int param_set(param_t param, const void *val)
+{
+	paramiocset_t data = {param, true, val, PX4_ERROR};
+	boardctl(PARAMIOCSET, reinterpret_cast<unsigned long>(&data));
+	return data.ret;
+}
+
+bool param_used(param_t param)
+{
+	paramiocused_t data = {param, false};
+	boardctl(PARAMIOCUSED, reinterpret_cast<unsigned long>(&data));
+	return data.ret;
+}
+
+int param_set_default_value(param_t param, const void *val)
+{
+	paramiocsetdefault_t data = {param, val, PX4_ERROR};
+	boardctl(PARAMIOCSETDEFAULT, reinterpret_cast<unsigned long>(&data));
+	return data.ret;
+}
+
+void
+param_reset_all()
+{
+	paramiocresetgroup_t data = {PARAM_RESET_ALL, nullptr, 0};
+	boardctl(PARAMIOCRESETGROUP, reinterpret_cast<unsigned long>(&data));
+}
+
+void
+param_reset_excludes(const char *excludes[], int num_excludes)
+{
+	paramiocresetgroup_t data = {PARAM_RESET_EXCLUDES, excludes, num_excludes};
+	boardctl(PARAMIOCRESETGROUP, reinterpret_cast<unsigned long>(&data));
+}
+
+void
+param_reset_specific(const char *resets[], int num_resets)
+{
+	paramiocresetgroup_t data = {PARAM_RESET_SPECIFIC, resets, num_resets};
+	boardctl(PARAMIOCRESETGROUP, reinterpret_cast<unsigned long>(&data));
+}
+
+int param_save_default()
+{
+	paramiocsavedefault_t data = {PX4_ERROR};
+	boardctl(PARAMIOCSAVEDEFAULT, reinterpret_cast<unsigned long>(&data));
+	return data.ret;
+}
+
+int
+param_load_default()
+{
+	paramiocloaddefault_t data = {PX4_ERROR};
+	boardctl(PARAMIOCLOADDEFAULT, reinterpret_cast<unsigned long>(&data));
+	return data.ret;
+}
+
+int
+param_export(const char *filename, param_filter_func filter)
+{
+	paramiocexport_t data = {filename, PX4_ERROR};
+
+	if (filter) { PX4_ERR("ERROR: filter not supported in userside blob"); }
+
+	boardctl(PARAMIOCEXPORT, reinterpret_cast<unsigned long>(&data));
+	return data.ret;
+}
+
+uint32_t param_hash_check()
+{
+	paramiochash_t data = {0};
+	boardctl(PARAMIOCHASH, reinterpret_cast<unsigned long>(&data));
+	return data.ret;
+}
@@ -195,7 +195,7 @@ bool SetCalibrationParamsVector3f(const char *sensor_type, const char *cal_type,
 		// eg CAL_MAGn_{X,Y,Z}OFF
 		sprintf(str, "CAL_%s%" PRIu8 "_%c%s", sensor_type, instance, axis_char, cal_type);

-		if (param_set_no_notification(param_find(str), &values(axis)) != 0) {
+		if (param_set(param_find(str), &values(axis)) != 0) {
 			PX4_ERR("failed to set %s = %.4f", str, (double)values(axis));
 			ret = PX4_ERROR;
 		}
@@ -90,7 +90,7 @@ bool SetCalibrationParam(const char *sensor_type, const char *cal_type, uint8_t
 	// eg CAL_MAGn_ID/CAL_MAGn_ROT
 	sprintf(str, "CAL_%s%u_%s", sensor_type, instance, cal_type);

-	int ret = param_set_no_notification(param_find(str), &value);
+	int ret = param_set(param_find(str), &value);

 	if (ret != PX4_OK) {
 		PX4_ERR("failed to set %s", str);
@@ -409,17 +409,14 @@ AirspeedModule::Run()
 						switch (i) {
 						case 0:
 							_param_airspeed_scale_1.set(_airspeed_validator[i].get_CAS_scale_validated());
-							_param_airspeed_scale_1.commit_no_notification();
 							break;

 						case 1:
 							_param_airspeed_scale_2.set(_airspeed_validator[i].get_CAS_scale_validated());
-							_param_airspeed_scale_2.commit_no_notification();
 							break;

 						case 2:
 							_param_airspeed_scale_3.set(_airspeed_validator[i].get_CAS_scale_validated());
-							_param_airspeed_scale_3.commit_no_notification();
 							break;
 						}
 					}
@@ -1752,7 +1752,6 @@ void Commander::run()
 		if (_was_armed && !_arm_state_machine.isArmed()) {
 			const int32_t flight_uuid = _param_flight_uuid.get() + 1;
 			_param_flight_uuid.set(flight_uuid);
-			_param_flight_uuid.commit_no_notification();

 			_last_disarmed_timestamp = hrt_absolute_time();

@@ -363,7 +363,6 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
 		const Dcmf board_rotation = calibration::GetBoardRotationMatrix();
 		const Dcmf board_rotation_t = board_rotation.transpose();

-		bool param_save = false;
 		bool failed = true;

 		for (unsigned i = 0; i < MAX_ACCEL_SENS; i++) {
@@ -419,7 +418,6 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)


 				if (calibrations[i].ParametersSave(i, true)) {
-					param_save = true;
 					failed = false;

 				} else {
@@ -434,10 +432,6 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
 			failed = true;
 		}

-		if (param_save) {
-			param_notify_changes();
-		}
-
 		if (!failed) {
 			calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, sensor_name);
 			px4_usleep(600000); // give this message enough time to propagate
@@ -455,7 +449,6 @@ int do_accel_calibration_quick(orb_advert_t *mavlink_log_pub)
 #if !defined(CONSTRAINED_FLASH)
 	PX4_INFO("Accelerometer quick calibration");

-	bool param_save = false;
 	bool failed = true;

 	FactoryCalibrationStorage factory_storage;
@@ -566,7 +559,6 @@ int do_accel_calibration_quick(orb_advert_t *mavlink_log_pub)

 				if (calibration.ParametersSave(accel_index)) {
 					calibration.PrintStatus();
-					param_save = true;
 					failed = false;

 				} else {
@@ -582,10 +574,6 @@ int do_accel_calibration_quick(orb_advert_t *mavlink_log_pub)
 		failed = true;
 	}

-	if (param_save) {
-		param_notify_changes();
-	}
-
 	if (!failed) {
 		return PX4_OK;
 	}
@@ -164,8 +164,6 @@ int do_baro_calibration(orb_advert_t *mavlink_log_pub)
 		return PX4_ERROR;
 	}

-	bool param_save = false;
-
 	for (int instance = 0; instance < MAX_SENSOR_COUNT; instance++) {
 		if ((calibration[instance].device_id() != 0) && (data_sum_count[instance] > 0)) {

@@ -210,16 +208,11 @@ int do_baro_calibration(orb_advert_t *mavlink_log_pub)

 				if (calibration[instance].ParametersSave(instance, true)) {
 					calibration[instance].PrintStatus();
-					param_save = true;
 				}
 			}
 		}
 	}

-	if (param_save) {
-		param_notify_changes();
-	}
-
 	calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, sensor_name);
 	return PX4_OK;
 }
@@ -100,6 +100,7 @@ std::vector<std::string> get_used_params()

 	return ret;
 }
+
 param_value_u get_param_value(const std::string &name)
 {
 	std::map<param_t, Param> &used_params = failsafe_instance.params();
@@ -248,7 +248,6 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)

 	if (res == PX4_OK) {
 		// set offset parameters to new values
-		bool param_save = false;
 		bool failed = true;

 		for (unsigned uorb_index = 0; uorb_index < MAX_GYROS; uorb_index++) {
@@ -260,7 +259,6 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
 				calibration.PrintStatus();

 				if (calibration.ParametersSave(uorb_index, true)) {
-					param_save = true;
 					failed = false;

 				} else {
@@ -275,10 +273,6 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
 			failed = true;
 		}

-		if (param_save) {
-			param_notify_changes();
-		}
-
 		if (!failed) {
 			calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, sensor_name);
 			px4_usleep(600000); // give this message enough time to propagate
--- a/Show More
+++ b/Show More