add parameter to control autosave of parameters

2 files changed, 23 insertions, 6 deletions

diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 55a44ac2e..453d5f921 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -156,7 +156,7 @@ enum MAV_MODE_FLAG {
 /* Mavlink file descriptors */
 static int mavlink_fd = 0;
 
-/* Syste autostart ID */
+/* System autostart ID */
 static int autostart_id;
 
 /* flags */
@@ -822,6 +822,7 @@ int commander_thread_main(int argc, char *argv[])
 	param_t _param_ef_current2throttle_thres = param_find("COM_EF_C2T");
 	param_t _param_ef_time_thres = param_find("COM_EF_TIME");
 	param_t _param_autostart_id = param_find("SYS_AUTOSTART");
+	param_t _param_autosave_params = param_find("COM_AUTOS_PAR");
 
 	const char *main_states_str[vehicle_status_s::MAIN_STATE_MAX];
 	main_states_str[vehicle_status_s::MAIN_STATE_MANUAL]			= "MANUAL";
@@ -1128,6 +1129,8 @@ int commander_thread_main(int argc, char *argv[])
 	int32_t ef_time_thres = 1000.0f;
 	uint64_t timestamp_engine_healthy = 0; /**< absolute time when engine was healty */
 
+	int autosave_params; /**< Autosave of parameters enabled/disabled, loaded from parameter */
+
 	/* check which state machines for changes, clear "changed" flag */
 	bool arming_state_changed = false;
 	bool main_state_changed = false;
@@ -1160,11 +1163,6 @@ int commander_thread_main(int argc, char *argv[])
 		/* update parameters */
 		orb_check(param_changed_sub, &updated);
 
-		if (updated) {
-			/* trigger an autosave */
-			need_param_autosave = true;
-		}
-
 		if (updated || param_init_forced) {
 			param_init_forced = false;
 
@@ -1232,6 +1230,15 @@ int commander_thread_main(int argc, char *argv[])
 
 			/* Autostart id */
 			param_get(_param_autostart_id, &autostart_id);
+
+			/* Parameter autosave setting */
+			param_get(_param_autosave_params, &autosave_params);
+		}
+
+		/* Set flag to autosave parameters if necessary */
+		if (updated && autosave_params != 0) {
+			/* trigger an autosave */
+			need_param_autosave = true;
 		}
 
 		orb_check(sp_man_sub, &updated);
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index 94eeb6f71..6a177046b 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -176,3 +176,13 @@ PARAM_DEFINE_FLOAT(COM_EF_TIME, 10.0f);
  * @max 35
  */
 PARAM_DEFINE_FLOAT(COM_RC_LOSS_T, 0.5);
+
+/** Autosaving of params
+ *
+ * If not equal to zero the commander will automatically save parameters to persistent storage once changed
+ *
+ * @group commander
+ * @min 0
+ * @max 1
+ */
+PARAM_DEFINE_INT32(COM_AUTOS_PAR, 0);