AP_OpenDroneID: ensure Persistent memory is not read continuously

CubePilot · Sep 21, 2023 · a106b0d · a106b0d
1 parent 97912c3
commit a106b0d
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Showing 2 changed files with 5 additions and 3 deletions.
diff --git a/libraries/AP_OpenDroneID/AP_OpenDroneID.cpp b/libraries/AP_OpenDroneID/AP_OpenDroneID.cpp
@@ -131,7 +131,7 @@ void AP_OpenDroneID::set_basic_id() {
     if (pkt_basic_id.id_type != MAV_ODID_ID_TYPE_NONE) {
         return;
     }
-    if (id_len == 0) {
+    if ((id_len == 0) && (_options & LockUASIDOnFirstBasicIDRx)) {
         load_UAS_ID_from_persistent_memory();
     }
     if (id_len > 0) {
@@ -208,10 +208,12 @@ void AP_OpenDroneID::update()
 
     if ((pkt_basic_id.id_type == MAV_ODID_ID_TYPE_SERIAL_NUMBER)
         && (_options & LockUASIDOnFirstBasicIDRx)
-        && id_len == 0) {
+        && id_len == 0
+        && !bootloader_flashed) {
         hal.util->flash_bootloader();
         // reset the basic id on next set_basic_id call
         pkt_basic_id.id_type = MAV_ODID_ID_TYPE_NONE;
+        bootloader_flashed = true;
     }
 
     set_basic_id();

diff --git a/libraries/AP_OpenDroneID/AP_OpenDroneID.h b/libraries/AP_OpenDroneID/AP_OpenDroneID.h
@@ -117,7 +117,7 @@ class AP_OpenDroneID
     char id_type[3];
     size_t id_len;
     char id_str[21];
-
+    bool bootloader_flashed;
     enum Options : int16_t {
         EnforceArming     = (1U << 0U),
         AllowNonGPSPosition = (1U << 1U),