AP_Param: stop panic()'ing on unknown parameters

Our track record on keeping parameters up to date with master is not
great and panic()'ing when loading them apparently is not helping
because every and each vehicle has a different file.

On aerofc load_defaults_file() is used in the same way as
load_embedded_param_defaults() is in which the panic() behavior has been
previously removed.

This finishes the removal of the panic param and add warnings to the
debug console when reading the parameters (rather than when counting
them).

ArduCopter/Parameters.cpp

@@ -1073,7 +1073,7 @@ void Copter::load_parameters(void)
 
     uint32_t before = micros();
     // Load all auto-loaded EEPROM variables
-    AP_Param::load_all(false);
+    AP_Param::load_all();
     AP_Param::convert_old_parameters(&conversion_table[0], ARRAY_SIZE(conversion_table));
     hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 

ArduPlane/Parameters.cpp

@@ -1278,7 +1278,7 @@ void Plane::load_parameters(void)
 
     uint32_t before = micros();
     // Load all auto-loaded EEPROM variables
-    AP_Param::load_all(false);
+    AP_Param::load_all();
     AP_Param::convert_old_parameters(&conversion_table[0], ARRAY_SIZE(conversion_table));
 
     // setup defaults in SRV_Channels

libraries/AP_Param/AP_Param.cpp

@@ -1269,12 +1269,12 @@ void AP_Param::setup_sketch_defaults(void)
 
 // Load all variables from EEPROM
 //
-bool AP_Param::load_all(bool check_defaults_file)
+bool AP_Param::load_all()
 {
     struct Param_header phdr;
     uint16_t ofs = sizeof(AP_Param::EEPROM_header);
 
-    reload_defaults_file(check_defaults_file);
+    reload_defaults_file();
 
     while (ofs < _storage.size()) {
         _storage.read_block(&phdr, ofs, sizeof(phdr));
@@ -1304,13 +1304,13 @@ bool AP_Param::load_all(bool check_defaults_file)
 /*
   reload from hal.util defaults file
  */
-void AP_Param::reload_defaults_file(bool panic_on_error)
+void AP_Param::reload_defaults_file()
 {
     if (param_defaults_data.length != 0) {
-        load_embedded_param_defaults(false);
+        load_embedded_param_defaults();
         return;
     }
-    
+
 #if HAL_OS_POSIX_IO == 1
     /*
       if the HAL specifies a defaults parameter file then override
@@ -1318,7 +1318,7 @@ void AP_Param::reload_defaults_file(bool panic_on_error)
      */
     const char *default_file = hal.util->get_custom_defaults_file();
     if (default_file) {
-        if (load_defaults_file(default_file, panic_on_error)) {
+        if (load_defaults_file(default_file)) {
             printf("Loaded defaults from %s\n", default_file);
         } else {
             printf("Failed to load defaults from %s\n", default_file);
@@ -1786,7 +1786,7 @@ bool AP_Param::parse_param_line(char *line, char **vname, float &value)
 #include <stdio.h>
 
 // increments num_defaults for each default found in filename
-bool AP_Param::count_defaults_in_file(const char *filename, uint16_t &num_defaults, bool panic_on_error)
+bool AP_Param::count_defaults_in_file(const char *filename, uint16_t &num_defaults)
 {
     FILE *f = fopen(filename, "r");
     if (f == nullptr) {
@@ -1805,17 +1805,11 @@ bool AP_Param::count_defaults_in_file(const char *filename, uint16_t &num_defaul
         }
         enum ap_var_type var_type;
         if (!find(pname, &var_type)) {
-            if (panic_on_error) {
-                fclose(f);
-                ::printf("invalid param %s in defaults file\n", pname);
-                AP_HAL::panic("AP_Param: Invalid param in defaults file");
-                return false;
-            } else {
-                continue;
-            }
+            continue;
         }
         num_defaults++;
     }
+
     fclose(f);
 
     return true;
@@ -1840,6 +1834,8 @@ bool AP_Param::read_param_defaults_file(const char *filename)
         enum ap_var_type var_type;
         AP_Param *vp = find(pname, &var_type);
         if (!vp) {
+            ::printf("Ignored unknown param %s in defaults file %s\n",
+                     pname, filename);
             continue;
         }
         param_overrides[idx].object_ptr = vp;
@@ -1856,7 +1852,7 @@ bool AP_Param::read_param_defaults_file(const char *filename)
 /*
   load a default set of parameters from a file
  */
-bool AP_Param::load_defaults_file(const char *filename, bool panic_on_error)
+bool AP_Param::load_defaults_file(const char *filename)
 {
     if (filename == nullptr) {
         return false;
@@ -1872,7 +1868,7 @@ bool AP_Param::load_defaults_file(const char *filename, bool panic_on_error)
     for (char *pname = strtok_r(mutable_filename, ",", &saveptr);
          pname != nullptr;
          pname = strtok_r(nullptr, ",", &saveptr)) {
-        if (!count_defaults_in_file(pname, num_defaults, panic_on_error)) {
+        if (!count_defaults_in_file(pname, num_defaults)) {
             free(mutable_filename);
             return false;
         }
@@ -1915,7 +1911,7 @@ bool AP_Param::load_defaults_file(const char *filename, bool panic_on_error)
 /*
   count the number of embedded parameter defaults
  */
-bool AP_Param::count_embedded_param_defaults(uint16_t &count, bool panic_on_error)
+bool AP_Param::count_embedded_param_defaults(uint16_t &count)
 {
     const volatile char *ptr = param_defaults_data.data;
     uint16_t length = param_defaults_data.length;
@@ -1953,13 +1949,9 @@ bool AP_Param::count_embedded_param_defaults(uint16_t &count, bool panic_on_erro
 
         enum ap_var_type var_type;
         if (!find(pname, &var_type)) {
-            if (panic_on_error) {
-                ::printf("invalid param %s in defaults file\n", pname);
-                AP_HAL::panic("AP_Param: Invalid param in embedded defaults");
-            } else {
-                continue;
-            }
+            continue;
         }
+
         count++;
     }
     return true;
@@ -1969,7 +1961,7 @@ bool AP_Param::count_embedded_param_defaults(uint16_t &count, bool panic_on_erro
 /*
   load a default set of parameters from a embedded parameter region
  */
-void AP_Param::load_embedded_param_defaults(bool panic_on_error)
+void AP_Param::load_embedded_param_defaults()
 {
     if (param_overrides != nullptr) {
         free(param_overrides);
@@ -1978,7 +1970,7 @@ void AP_Param::load_embedded_param_defaults(bool panic_on_error)
     
     num_param_overrides = 0;
     uint16_t num_defaults = 0;
-    if (!count_embedded_param_defaults(num_defaults, panic_on_error)) {
+    if (!count_embedded_param_defaults(num_defaults)) {
         return;
     }
 
@@ -2023,6 +2015,8 @@ void AP_Param::load_embedded_param_defaults(bool panic_on_error)
         enum ap_var_type var_type;
         AP_Param *vp = find(pname, &var_type);
         if (!vp) {
+            ::printf("Ignored unknown param %s from embedded region (offset=%u)\n",
+                     pname, ptr - param_defaults_data.data);
             continue;
         }
         param_overrides[idx].object_ptr = vp;

libraries/AP_Param/AP_Param.h

@@ -323,11 +323,11 @@ public:
     ///
     /// @return                False if any variable failed to load
     ///
-    static bool load_all(bool check_defaults_file=true);
+    static bool load_all();
 
     /// reoad the hal.util defaults file. Called after pointer parameters have been allocated
     ///
-    static void reload_defaults_file(bool panic_on_error=true);
+    static void reload_defaults_file();
     
     static void load_object_from_eeprom(const void *object_pointer, const struct GroupInfo *group_info);
     
@@ -573,16 +573,16 @@ private:
     /*
       load a parameter defaults file. This happens as part of load_all()
      */
-    static bool count_defaults_in_file(const char *filename, uint16_t &num_defaults, bool panic_on_error);
+    static bool count_defaults_in_file(const char *filename, uint16_t &num_defaults);
     static bool read_param_defaults_file(const char *filename);
-    static bool load_defaults_file(const char *filename, bool panic_on_error);
+    static bool load_defaults_file(const char *filename);
 #endif
 
     /*
       load defaults from embedded parameters
      */
-    static bool count_embedded_param_defaults(uint16_t &count, bool panic_on_error);
-    static void load_embedded_param_defaults(bool panic_on_error);
+    static bool count_embedded_param_defaults(uint16_t &count);
+    static void load_embedded_param_defaults();
     
     // send a parameter to all GCS instances
     void send_parameter(const char *name, enum ap_var_type param_header_type, uint8_t idx) const;