param load / store cleanup, storage location selection now exclusively through dedicated "param select <path>" command

5 files changed, 136 insertions, 81 deletions

diff --git a/apps/commander/commander.c b/apps/commander/commander.c
index fafbd7e94..9dbdf49e2 100644
--- a/apps/commander/commander.c
+++ b/apps/commander/commander.c
@@ -143,7 +143,7 @@ int commander_thread_main(int argc, char *argv[]);
 
 static int buzzer_init(void);
 static void buzzer_deinit(void);
-static void tune_confirm();
+static void tune_confirm(void);
 static int led_init(void);
 static void led_deinit(void);
 static int led_toggle(int led);
@@ -264,7 +264,7 @@ int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, u
 	return 0;
 }
 
-void tune_confirm() {
+void tune_confirm(void) {
 	ioctl(buzzer, TONE_SET_ALARM, 3);
 }
 
@@ -914,17 +914,69 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 		}
 		break;
 
-		/*
-		 * do not report an error for commands that are
-		 * handled directly by MAVLink.
-		 */
-		case MAV_CMD_PREFLIGHT_STORAGE:
+		case MAV_CMD_PREFLIGHT_STORAGE: {
+			if (current_status.flag_system_armed) {
+				mavlink_log_info(mavlink_fd, "[cmd] REJECTING param command while armed");
+			} else {
+
+				// XXX move this to LOW PRIO THREAD of commander app
+				/* Read all parameters from EEPROM to RAM */
+
+				if (((int)(cmd->param1)) == 0)	{
+
+					/* read all parameters from EEPROM to RAM */
+					int read_ret = param_load_default();
+					if (read_ret == OK) {
+						//printf("[mavlink pm] Loaded EEPROM params in RAM\n");
+						mavlink_log_info(mavlink_fd, "[cmd] OK loading params from");
+						mavlink_log_info(mavlink_fd, param_get_default_file());
+						result = MAV_RESULT_ACCEPTED;
+					} else if (read_ret == 1) {
+						mavlink_log_info(mavlink_fd, "[cmd] OK no changes in");
+						mavlink_log_info(mavlink_fd, param_get_default_file());
+						result = MAV_RESULT_ACCEPTED;
+					} else {
+						if (read_ret < -1) {
+							mavlink_log_info(mavlink_fd, "[cmd] ERR loading params from");
+							mavlink_log_info(mavlink_fd, param_get_default_file());
+						} else {
+							mavlink_log_info(mavlink_fd, "[cmd] ERR no param file named");
+							mavlink_log_info(mavlink_fd, param_get_default_file());
+						}
+						result = MAV_RESULT_FAILED;
+					}
+
+				} else if (((int)(cmd->param1)) == 1)	{
+
+					/* write all parameters from RAM to EEPROM */
+					int write_ret = param_save_default();
+					if (write_ret == OK) {
+						mavlink_log_info(mavlink_fd, "[cmd] OK saved param file");
+						mavlink_log_info(mavlink_fd, param_get_default_file());
+						result = MAV_RESULT_ACCEPTED;
+
+					} else {
+						if (write_ret < -1) {
+							mavlink_log_info(mavlink_fd, "[cmd] ERR params file does not exit:");
+							mavlink_log_info(mavlink_fd, param_get_default_file());
+						} else {
+							mavlink_log_info(mavlink_fd, "[cmd] ERR writing params to");
+							mavlink_log_info(mavlink_fd, param_get_default_file());
+						}
+						result = MAV_RESULT_FAILED;
+					}
+
+				} else {
+					mavlink_log_info(mavlink_fd, "[pm] refusing unsupp. STOR request");
+					result = MAV_RESULT_UNSUPPORTED;
+				}
+			}
+		}
 		break;
 
 		default: {
-			mavlink_log_critical(mavlink_fd, "[commander] refusing unsupported command");
+			mavlink_log_critical(mavlink_fd, "[cmd] refusing unsupported command");
 			result = MAV_RESULT_UNSUPPORTED;
-			usleep(200000);
 			/* announce command rejection */
 			ioctl(buzzer, TONE_SET_ALARM, 4);
 		}
@@ -932,7 +984,13 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 	}
 
 	/* supported command handling stop */
-
+	if (result == MAV_RESULT_FAILED ||
+		result == MAV_RESULT_DENIED ||
+		result == MAV_RESULT_UNSUPPORTED) {
+		ioctl(buzzer, TONE_SET_ALARM, 5);
+	} else if (result == MAV_RESULT_ACCEPTED) {
+		tune_confirm();
+	}
 
 	/* send any requested ACKs */
 	if (cmd->confirmation > 0) {
diff --git a/apps/mavlink/mavlink_parameters.c b/apps/mavlink/mavlink_parameters.c
index 6d434ed3d..7cb1582b4 100644
--- a/apps/mavlink/mavlink_parameters.c
+++ b/apps/mavlink/mavlink_parameters.c
@@ -233,66 +233,68 @@ void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_mess
 
 		} break;
 
-		case MAVLINK_MSG_ID_COMMAND_LONG: {
-			mavlink_command_long_t cmd_mavlink;
-			mavlink_msg_command_long_decode(msg, &cmd_mavlink);
-
-			uint8_t result = MAV_RESULT_UNSUPPORTED;
-
-			if (cmd_mavlink.target_system == mavlink_system.sysid &&
-				((cmd_mavlink.target_component == mavlink_system.compid) ||(cmd_mavlink.target_component == MAV_COMP_ID_ALL))) {
-
-				/* preflight parameter load / store */
-				if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_STORAGE) {
-					/* Read all parameters from EEPROM to RAM */
-
-					if (((int)(cmd_mavlink.param1)) == 0)	{
-
-						/* read all parameters from EEPROM to RAM */
-						int read_ret = param_load_default();
-						if (read_ret == OK) {
-							//printf("[mavlink pm] Loaded EEPROM params in RAM\n");
-							mavlink_missionlib_send_gcs_string("[mavlink pm] OK loaded EEPROM params");
-							result = MAV_RESULT_ACCEPTED;
-						} else if (read_ret == 1) {
-							mavlink_missionlib_send_gcs_string("[mavlink pm] No stored parameters to load");
-							result = MAV_RESULT_ACCEPTED;
-						} else {
-							if (read_ret < -1) {
-								mavlink_missionlib_send_gcs_string("[mavlink pm] ERR loading params from EEPROM");
-							} else {
-								mavlink_missionlib_send_gcs_string("[mavlink pm] ERR loading params, no EEPROM found");
-							}
-							result = MAV_RESULT_FAILED;
-						}
-
-					} else if (((int)(cmd_mavlink.param1)) == 1)	{
-
-						/* write all parameters from RAM to EEPROM */
-						int write_ret = param_save_default();
-						if (write_ret == OK) {
-							mavlink_missionlib_send_gcs_string("[mavlink pm] OK params written to EEPROM");
-							result = MAV_RESULT_ACCEPTED;
-
-						} else {
-							if (write_ret < -1) {
-								mavlink_missionlib_send_gcs_string("[mavlink pm] ERR writing params to EEPROM");
-							} else {
-								mavlink_missionlib_send_gcs_string("[mavlink pm] ERR writing params, no EEPROM found");
-							}
-							result = MAV_RESULT_FAILED;
-						}
-
-					} else {
-						//fprintf(stderr, "[mavlink pm] refusing unsupported storage request\n");
-						mavlink_missionlib_send_gcs_string("[mavlink pm] refusing unsupported STOR request");
-						result = MAV_RESULT_UNSUPPORTED;
-					}
-				}
-			}
-
-			/* send back command result */
-			//mavlink_msg_command_ack_send(chan, cmd.command, result);
-		} break;
+		// case MAVLINK_MSG_ID_COMMAND_LONG: {
+		// 	mavlink_command_long_t cmd_mavlink;
+		// 	mavlink_msg_command_long_decode(msg, &cmd_mavlink);
+
+		// 	uint8_t result = MAV_RESULT_UNSUPPORTED;
+
+		// 	if (cmd_mavlink.target_system == mavlink_system.sysid &&
+		// 		((cmd_mavlink.target_component == mavlink_system.compid) ||(cmd_mavlink.target_component == MAV_COMP_ID_ALL))) {
+
+		// 		// XXX move this to LOW PRIO THREAD of commander app
+
+		// 		/* preflight parameter load / store */
+		// 		if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_STORAGE) {
+		// 			/* Read all parameters from EEPROM to RAM */
+
+		// 			if (((int)(cmd_mavlink.param1)) == 0)	{
+
+		// 				/* read all parameters from EEPROM to RAM */
+		// 				int read_ret = param_load_default();
+		// 				if (read_ret == OK) {
+		// 					//printf("[mavlink pm] Loaded EEPROM params in RAM\n");
+		// 					mavlink_missionlib_send_gcs_string("[pm] OK loading %s", param_get_default_file());
+		// 					result = MAV_RESULT_ACCEPTED;
+		// 				} else if (read_ret == 1) {
+		// 					mavlink_missionlib_send_gcs_string("[pm] OK no changes %s", param_get_default_file());
+		// 					result = MAV_RESULT_ACCEPTED;
+		// 				} else {
+		// 					if (read_ret < -1) {
+		// 						mavlink_missionlib_send_gcs_string("[pm] ERR loading %s", param_get_default_file());
+		// 					} else {
+		// 						mavlink_missionlib_send_gcs_string("[pm] ERR no file %s", param_get_default_file());
+		// 					}
+		// 					result = MAV_RESULT_FAILED;
+		// 				}
+
+		// 			} else if (((int)(cmd_mavlink.param1)) == 1)	{
+
+		// 				/* write all parameters from RAM to EEPROM */
+		// 				int write_ret = param_save_default();
+		// 				if (write_ret == OK) {
+		// 					mavlink_missionlib_send_gcs_string("[pm] OK saved %s", param_get_default_file());
+		// 					result = MAV_RESULT_ACCEPTED;
+
+		// 				} else {
+		// 					if (write_ret < -1) {
+		// 						mavlink_missionlib_send_gcs_string("[pm] ERR writing %s", param_get_default_file());
+		// 					} else {
+		// 						mavlink_missionlib_send_gcs_string("[pm] ERR writing %s", param_get_default_file());
+		// 					}
+		// 					result = MAV_RESULT_FAILED;
+		// 				}
+
+		// 			} else {
+		// 				//fprintf(stderr, "[mavlink pm] refusing unsupported storage request\n");
+		// 				mavlink_missionlib_send_gcs_string("[pm] refusing unsupp. STOR request");
+		// 				result = MAV_RESULT_UNSUPPORTED;
+		// 			}
+		// 		}
+		// 	}
+
+		// 	/* send back command result */
+		// 	//mavlink_msg_command_ack_send(chan, cmd.command, result);
+		// } break;
 	}
 }
diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c
index 63c296f96..29463d744 100644
--- a/apps/multirotor_att_control/multirotor_att_control_main.c
+++ b/apps/multirotor_att_control/multirotor_att_control_main.c
@@ -220,9 +220,9 @@ mc_thread_main(int argc, char *argv[])
 
 				/* only move setpoint if manual input is != 0 */
 				// XXX turn into param
-				if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.25f) {
+				if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.3f) {
 					att_sp.yaw_body = att_sp.yaw_body + manual.yaw * 0.0025f;
-				} else if (manual.throttle <= 0.25f) {
+				} else if (manual.throttle <= 0.3f) {
 					att_sp.yaw_body = att.yaw;
 				}
 				att_sp.thrust = manual.throttle;
diff --git a/apps/systemcmds/param/param.c b/apps/systemcmds/param/param.c
index ce701b5ee..210841604 100644
--- a/apps/systemcmds/param/param.c
+++ b/apps/systemcmds/param/param.c
@@ -96,7 +96,8 @@ param_main(int argc, char *argv[])
 			} else {
 				param_set_default_file(NULL);
 			}
-			warnx("selected parameter file %s", param_get_default_file());
+			warnx("selected parameter default file %s", param_get_default_file());
+			exit(0);
 		}
 
 		if (!strcmp(argv[1], "show"))
@@ -141,17 +142,11 @@ do_load(const char* param_file_name)
 	if (fd < 0)
 		err(1, "open '%s'", param_file_name);
 
-	/* set new default file name */
-	param_set_default_file(param_file_name);
-
 	int result = param_load(fd);
 	close(fd);
 
 	if (result < 0) {
 		errx(1, "error importing from '%s'", param_file_name);
-	} else {
-		/* set default file name for next storage operation */
-		param_set_default_file(param_file_name);
 	}
 
 	exit(0);
diff --git a/apps/systemlib/param/param.c b/apps/systemlib/param/param.c
index 9a00c91a5..ddf9b0975 100644
--- a/apps/systemlib/param/param.c
+++ b/apps/systemlib/param/param.c
@@ -482,7 +482,7 @@ param_reset_all(void)
 }
 
 static const char *param_default_file = "/eeprom/parameters";
-static char *param_user_file;
+static char *param_user_file = NULL;
 
 int
 param_set_default_file(const char* filename)