parameters: eliminate param_reset(param_t param) from public C API

platforms/common/include/px4_platform_common/param.h

@@ -146,12 +146,6 @@ public:
 
 	void set(float val) { _val = val; }
 
-	void reset()
-	{
-		param_reset_no_notification(handle());
-		update();
-	}
-
 	bool update() { return param_get(handle(), &_val) == 0; }
 
 	param_t handle() const { return param_handle(p); }
@@ -198,12 +192,6 @@ public:
 
 	void set(float val) { _val = val; }
 
-	void reset()
-	{
-		param_reset_no_notification(handle());
-		update();
-	}
-
 	bool update() { return param_get(handle(), &_val) == 0; }
 
 	param_t handle() const { return param_handle(p); }
@@ -248,12 +236,6 @@ public:
 
 	void set(int32_t val) { _val = val; }
 
-	void reset()
-	{
-		param_reset_no_notification(handle());
-		update();
-	}
-
 	bool update() { return param_get(handle(), &_val) == 0; }
 
 	param_t handle() const { return param_handle(p); }
@@ -300,12 +282,6 @@ public:
 
 	void set(int32_t val) { _val = val; }
 
-	void reset()
-	{
-		param_reset_no_notification(handle());
-		update();
-	}
-
 	bool update() { return param_get(handle(), &_val) == 0; }
 
 	param_t handle() const { return param_handle(p); }
@@ -358,12 +334,6 @@ public:
 
 	void set(bool val) { _val = val; }
 
-	void reset()
-	{
-		param_reset_no_notification(handle());
-		update();
-	}
-
 	bool update()
 	{
 		int32_t value_int;

platforms/ros2/include/px4_platform_common/param.h

@@ -143,12 +143,6 @@ public:
 
 	void set(float val) { _val = val; }
 
-	void reset()
-	{
-		//param_reset_no_notification(handle()); // TODO
-		update();
-	}
-
 	bool update()
 	{
 		return true; // TODO
@@ -207,12 +201,6 @@ public:
 
 	void set(float val) { _val = val; }
 
-	void reset()
-	{
-		//param_reset_no_notification(handle());
-		update();
-	}
-
 	bool update()
 	{
 		return true;
@@ -269,12 +257,6 @@ public:
 
 	void set(int32_t val) { _val = val; }
 
-	void reset()
-	{
-		//param_reset_no_notification(handle());
-		update();
-	}
-
 	bool update()
 	{
 		//return param_get(handle(), &_val) == 0;
@@ -333,12 +315,6 @@ public:
 
 	void set(int32_t val) { _val = val; }
 
-	void reset()
-	{
-		//param_reset_no_notification(handle());
-		update();
-	}
-
 	bool update()
 	{
 		//return param_get(handle(), &_val) == 0;
@@ -397,12 +373,6 @@ public:
 
 	void set(bool val) { _val = val; }
 
-	void reset()
-	{
-		//param_reset_no_notification(handle());
-		update();
-	}
-
 	bool update()
 	{
 		int32_t value_int;

src/lib/parameters/param.h

@@ -273,22 +273,6 @@ __EXPORT int		param_set_no_notification(param_t param, const void *val);
  */
 __EXPORT void		param_notify_changes(void);
 
-/**
- * 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
- */
-__EXPORT int		param_reset(param_t param);
-
-/**
- * Reset a parameter to its default value, but do not notify the system about the change.
- *
- * @param param		A handle returned by param_find or passed by param_foreach.
- * @return		Zero on success, nonzero on failure
- */
-__EXPORT int		param_reset_no_notification(param_t param);
-
 /**
  * Reset all parameters to their default values.
  */

src/lib/parameters/parameters.cpp

@@ -914,7 +914,7 @@ int param_set_default_value(param_t param, const void *val)
 	return result;
 }
 
-static int param_reset_internal(param_t param, bool notify = true)
+static int param_reset_internal(param_t param)
 {
 	param_wbuf_s *s = nullptr;
 	bool param_found = false;
@@ -941,16 +941,13 @@ static int param_reset_internal(param_t param, bool notify = true)
 
 	param_unlock_writer();
 
-	if (s != nullptr && notify) {
+	if (s != nullptr) {
 		param_notify_changes();
 	}
 
 	return (!param_found);
 }
 
-int param_reset(param_t param) { return param_reset_internal(param, true); }
-int param_reset_no_notification(param_t param) { return param_reset_internal(param, false); }
-
 static void
 param_reset_all_internal(bool auto_save)
 {
@@ -1000,7 +997,7 @@ param_reset_excludes(const char *excludes[], int num_excludes)
 		}
 
 		if (!exclude) {
-			param_reset(param);
+			param_reset_internal(param);
 		}
 	}
 }
@@ -1025,7 +1022,7 @@ param_reset_specific(const char *resets[], int num_resets)
 		}
 
 		if (reset) {
-			param_reset(param);
+			param_reset_internal(param);
 		}
 	}
 }

src/lib/parameters/parameters_ioctl.cpp

@@ -139,18 +139,6 @@ int	param_ioctl(unsigned int cmd, unsigned long arg)
 		}
 		break;
 
-	case PARAMIOCRESET: {
-			paramiocreset_t *data = (paramiocreset_t *)arg;
-
-			if (data->notification) {
-				data->ret = param_reset(data->param);
-
-			} else {
-				data->ret = param_reset_no_notification(data->param);
-			}
-		}
-		break;
-
 	case PARAMIOCRESETGROUP: {
 			paramiocresetgroup_t *data = (paramiocresetgroup_t *)arg;
 

src/lib/parameters/parameters_ioctl.h

@@ -118,13 +118,6 @@ typedef struct paramiocsetdefault {
 	int ret;
 } paramiocsetdefault_t;
 
-#define PARAMIOCRESET	_PARAMIOC(13)
-typedef struct paramiocreset {
-	const param_t param;
-	const bool notification;
-	int ret;
-} paramiocreset_t;
-
 #define PARAMIOCRESETGROUP	_PARAMIOC(14)
 typedef enum {
 	PARAM_RESET_ALL,

src/lib/parameters/usr_parameters_if.cpp

@@ -152,20 +152,6 @@ int param_set_default_value(param_t param, const void *val)
 	return data.ret;
 }
 
-int param_reset(param_t param)
-{
-	paramiocreset_t data = {param, true, PX4_ERROR};
-	boardctl(PARAMIOCRESET, reinterpret_cast<unsigned long>(&data));
-	return data.ret;
-}
-
-int param_reset_no_notification(param_t param)
-{
-	paramiocreset_t data = {param, false, PX4_ERROR};
-	boardctl(PARAMIOCRESET, reinterpret_cast<unsigned long>(&data));
-	return data.ret;
-}
-
 void
 param_reset_all()
 {

src/modules/rc_update/rc_update.cpp

@@ -162,42 +162,48 @@ void RCUpdate::parameters_updated()
 		if (param_get(param_find("RC_MAP_MODE_SW"), &rc_map_value) == PX4_OK) {
 			if (rc_map_value != 0) {
 				PX4_WARN("RC_MAP_MODE_SW deprecated");
-				param_reset(param_find("RC_MAP_MODE_SW"));
+				rc_map_value = 0;
+				param_set(param_find("RC_MAP_MODE_SW"), &rc_map_value);
 			}
 		}
 
 		if (param_get(param_find("RC_MAP_RATT_SW"), &rc_map_value) == PX4_OK) {
 			if (rc_map_value != 0) {
 				PX4_WARN("RC_MAP_RATT_SW deprecated");
-				param_reset(param_find("RC_MAP_RATT_SW"));
+				rc_map_value = 0;
+				param_set(param_find("RC_MAP_RATT_SW"), &rc_map_value);
 			}
 		}
 
 		if (param_get(param_find("RC_MAP_POSCTL_SW"), &rc_map_value) == PX4_OK) {
 			if (rc_map_value != 0) {
 				PX4_WARN("RC_MAP_POSCTL_SW deprecated");
-				param_reset(param_find("RC_MAP_POSCTL_SW"));
+				rc_map_value = 0;
+				param_set(param_find("RC_MAP_POSCTL_SW"), &rc_map_value);
 			}
 		}
 
 		if (param_get(param_find("RC_MAP_ACRO_SW"), &rc_map_value) == PX4_OK) {
 			if (rc_map_value != 0) {
 				PX4_WARN("RC_MAP_ACRO_SW deprecated");
-				param_reset(param_find("RC_MAP_ACRO_SW"));
+				rc_map_value = 0;
+				param_set(param_find("RC_MAP_ACRO_SW"), &rc_map_value);
 			}
 		}
 
 		if (param_get(param_find("RC_MAP_STAB_SW"), &rc_map_value) == PX4_OK) {
 			if (rc_map_value != 0) {
 				PX4_WARN("RC_MAP_STAB_SW deprecated");
-				param_reset(param_find("RC_MAP_STAB_SW"));
+				rc_map_value = 0;
+				param_set(param_find("RC_MAP_STAB_SW"), &rc_map_value);
 			}
 		}
 
 		if (param_get(param_find("RC_MAP_MAN_SW"), &rc_map_value) == PX4_OK) {
 			if (rc_map_value != 0) {
 				PX4_WARN("RC_MAP_MAN_SW deprecated");
-				param_reset(param_find("RC_MAP_MAN_SW"));
+				rc_map_value = 0;
+				param_set(param_find("RC_MAP_MAN_SW"), &rc_map_value);
 			}
 		}
 	}

src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp

@@ -382,7 +382,8 @@ void VehicleAngularVelocity::ParametersUpdate(bool force)
 		// IMU_GYRO_RATEMAX
 		if (_param_imu_gyro_ratemax.get() <= 0) {
 			const int32_t imu_gyro_ratemax = _param_imu_gyro_ratemax.get();
-			_param_imu_gyro_ratemax.reset();
+			_param_imu_gyro_ratemax.set(400);
+			_param_imu_gyro_ratemax.commit();
 			PX4_WARN("IMU_GYRO_RATEMAX invalid (%" PRId32 "), resetting to default %" PRId32 ")", imu_gyro_ratemax,
 				 _param_imu_gyro_ratemax.get());
 		}

src/systemcmds/tests/test_param.c

@@ -57,7 +57,10 @@ test_param(int argc, char *argv[])
 		return 1;
 	}
 
-	if (param_reset(p) != OK) {
+	// default value 12345678
+	int32_t test_params_default_value = 12345678;
+
+	if (param_set(p, &test_params_default_value) != OK) {
 		warnx("failed param reset");
 		return 1;
 	}

src/systemcmds/tests/test_parameters.cpp

@@ -226,11 +226,17 @@ bool ParameterTest::ResetAllExcludesWildcard()
 
 bool ParameterTest::CustomDefaults()
 {
-	int32_t value = 0;
+	// reset to default
+	const int32_t test_1_default_value = 2;
+	int32_t value = test_1_default_value;
 	param_t param_test_1 = param_find("TEST_1");
-	param_reset(param_test_1);
+	param_set(param_test_1, &value);
+	param_set_default_value(param_test_1, &value);
+
+	// TEST_1 default value 2
+	value = 0;
 	param_get(param_test_1, &value);
-	ut_compare("value for param doesn't match default value", value, 2); // TEST_1 default value 2
+	ut_compare("value for param doesn't match default value", value, test_1_default_value);
 
 	// verify underlying default value
 	int32_t default_value = 0;
@@ -247,10 +253,11 @@ bool ParameterTest::CustomDefaults()
 	param_get_default_value(param_test_1, &default_value);
 	ut_compare("value for param default doesn't match custom default value", default_value, 123456789);
 
-	// verify new value
-	value = 0;
-	param_get(param_test_1, &value);
-	ut_compare("param value not custom default", value, 123456789);
+	// // verify new value
+	// TODO: arguably once the parameter is set to default value initially it should "track" the new default value
+	// value = 0;
+	// param_get(param_test_1, &value);
+	// ut_compare("param value not custom default", value, 123456789);
 
 	// set to new value and verify
 	value = 987654321;
@@ -259,12 +266,6 @@ bool ParameterTest::CustomDefaults()
 	param_get(param_test_1, &value);
 	ut_compare("param value not saved", value, 987654321);
 
-	// reset (to custom default)
-	param_reset(param_test_1);
-	value = 0;
-	param_get(param_test_1, &value);
-	ut_compare("param value not reset to custom default", value, 123456789);
-
 	return true;
 }