Don't call param_opcode unless there are dirty nodes [resolves PX4/Firmware#3160]

9 years ago · a27a6acb54
1 changed files with 6 additions and 2 deletions
--- a/src/modules/uavcan/uavcan_servers.cpp
+++ b/src/modules/uavcan/uavcan_servers.cpp
@ -523,8 +523,12 @@ pthread_addr_t UavcanServers::run(pthread_addr_t)
 				switch (command_id) {
 				case 1: {
 						// Param save request
-						_param_save_opcode = uavcan::protocol::param::ExecuteOpcode::Request::OPCODE_SAVE;
+						int node_id;
-						param_opcode(get_next_dirty_node_id(1));
+						node_id = get_next_dirty_node_id(1);
 						if (node_id < 128) {
 							_param_save_opcode = uavcan::protocol::param::ExecuteOpcode::Request::OPCODE_SAVE;
 							param_opcode(node_id);
 						}
 						break;
 					}
 				case 2: {