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AP_Mount: Only save converted mount parameter if mount was previously set in the first place #27109
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tridge
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ArduPilot:master
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joshanne:pr/only-save-converted-mount-if-mount-was-previously-set
May 22, 2024
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Original file line number | Diff line number | Diff line change |
---|---|---|
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@@ -1014,7 +1014,10 @@ void AP_Mount::convert_params() | |
// convert MNT_TYPE to MNT1_TYPE | ||
int8_t mnt_type = 0; | ||
IGNORE_RETURN(AP_Param::get_param_by_index(this, 19, AP_PARAM_INT8, &mnt_type)); | ||
if (mnt_type > 0) { | ||
if (mnt_type == 0) { | ||
// if the mount was not previously set, no need to perform the upgrade logic | ||
return; | ||
} else if (mnt_type > 0) { | ||
int8_t stab_roll = 0; | ||
int8_t stab_pitch = 0; | ||
IGNORE_RETURN(AP_Param::get_param_by_index(this, 4, AP_PARAM_INT8, &stab_roll)); | ||
|
@@ -1024,8 +1027,9 @@ void AP_Mount::convert_params() | |
// conversion is still done even if HAL_MOUNT_SERVO_ENABLED is false | ||
mnt_type = 7; // (int8_t)Type::BrushlessPWM; | ||
} | ||
// if the mount was previously set, then we need to save the upgraded mount type | ||
_params[0].type.set_and_save(mnt_type); | ||
} | ||
_params[0].type.set_and_save(mnt_type); | ||
There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. Moving this inside the else ensures that we only write a value to ie. don't set |
||
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||
// convert MNT_JSTICK_SPD to MNT1_RC_RATE | ||
int8_t jstick_spd = 0; | ||
|
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If the old
MNT_TYPE
value is zero, it is not configured, and upgrade is not required - so bail.