From ad3d0391abef7254336020ab760d6d4139f3eb3e Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lorenz@px4.io>
Date: Wed, 22 Feb 2017 23:48:38 +0100
Subject: [PATCH] Navigator: Only update params as they change

---
 src/modules/navigator/datalinkloss.cpp   | 2 --
 src/modules/navigator/enginefailure.cpp  | 3 ---
 src/modules/navigator/follow_target.cpp  | 2 --
 src/modules/navigator/gpsfailure.cpp     | 3 ---
 src/modules/navigator/mission.cpp        | 3 ---
 src/modules/navigator/navigator_main.cpp | 6 +++++-
 src/modules/navigator/rcloss.cpp         | 2 --
 src/modules/navigator/rtl.cpp            | 3 ---
 8 files changed, 5 insertions(+), 19 deletions(-)

diff --git a/src/modules/navigator/datalinkloss.cpp b/src/modules/navigator/datalinkloss.cpp
index 6c910c9844..5457f6b1f8 100644
--- a/src/modules/navigator/datalinkloss.cpp
+++ b/src/modules/navigator/datalinkloss.cpp
@@ -93,7 +93,6 @@ void
 DataLinkLoss::on_activation()
 {
 	_dll_state = DLL_STATE_NONE;
-	updateParams();
 	advance_dll();
 	set_dll_item();
 }
@@ -102,7 +101,6 @@ void
 DataLinkLoss::on_active()
 {
 	if (is_mission_item_reached()) {
-		updateParams();
 		advance_dll();
 		set_dll_item();
 	}
diff --git a/src/modules/navigator/enginefailure.cpp b/src/modules/navigator/enginefailure.cpp
index cf48edb405..56fcbffdfc 100644
--- a/src/modules/navigator/enginefailure.cpp
+++ b/src/modules/navigator/enginefailure.cpp
@@ -96,9 +96,6 @@ EngineFailure::set_ef_item()
 {
 	struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
 
-	/* make sure we have the latest params */
-	updateParams();
-
 	set_previous_pos_setpoint();
 	_navigator->set_can_loiter_at_sp(false);
 
diff --git a/src/modules/navigator/follow_target.cpp b/src/modules/navigator/follow_target.cpp
index 911d284515..5711303259 100644
--- a/src/modules/navigator/follow_target.cpp
+++ b/src/modules/navigator/follow_target.cpp
@@ -100,8 +100,6 @@ void FollowTarget::on_inactive()
 
 void FollowTarget::on_activation()
 {
-	updateParams();
-
 	_follow_offset = _param_tracking_dist.get() < 1.0F ? 1.0F : _param_tracking_dist.get();
 
 	_responsiveness = math::constrain((float) _param_tracking_resp.get(), .1F, 1.0F);
diff --git a/src/modules/navigator/gpsfailure.cpp b/src/modules/navigator/gpsfailure.cpp
index 7ece880d1f..8d57319160 100644
--- a/src/modules/navigator/gpsfailure.cpp
+++ b/src/modules/navigator/gpsfailure.cpp
@@ -89,7 +89,6 @@ GpsFailure::on_activation()
 {
 	_gpsf_state = GPSF_STATE_NONE;
 	_timestamp_activation = hrt_absolute_time();
-	updateParams();
 	advance_gpsf();
 	set_gpsf_item();
 }
@@ -160,8 +159,6 @@ GpsFailure::set_gpsf_item()
 void
 GpsFailure::advance_gpsf()
 {
-	updateParams();
-
 	switch (_gpsf_state) {
 	case GPSF_STATE_NONE:
 		_gpsf_state = GPSF_STATE_LOITER;
diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index 3667f4e6fb..15e5edb133 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -444,9 +444,6 @@ Mission::get_absolute_altitude_for_item(struct mission_item_s &mission_item)
 void
 Mission::set_mission_items()
 {
-	/* make sure param is up to date */
-	updateParams();
-
 	/* reset the altitude foh (first order hold) logic, if altitude foh is enabled (param) a new foh element starts now */
 	altitude_sp_foh_reset();
 
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index ce40323c01..1af2299e5c 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -278,6 +278,11 @@ Navigator::params_update()
 {
 	parameter_update_s param_update;
 	orb_copy(ORB_ID(parameter_update), _param_update_sub, &param_update);
+	updateParams();
+
+	if (_navigation_mode) {
+		_navigation_mode->updateParams();
+	}
 }
 
 void
@@ -413,7 +418,6 @@ Navigator::task_main()
 
 		if (updated) {
 			params_update();
-			updateParams();
 		}
 
 		/* vehicle control mode updated */
diff --git a/src/modules/navigator/rcloss.cpp b/src/modules/navigator/rcloss.cpp
index 89861d7b9f..409f9e329b 100644
--- a/src/modules/navigator/rcloss.cpp
+++ b/src/modules/navigator/rcloss.cpp
@@ -83,7 +83,6 @@ void
 RCLoss::on_activation()
 {
 	_rcl_state = RCL_STATE_NONE;
-	updateParams();
 	advance_rcl();
 	set_rcl_item();
 }
@@ -92,7 +91,6 @@ void
 RCLoss::on_active()
 {
 	if (is_mission_item_reached()) {
-		updateParams();
 		advance_rcl();
 		set_rcl_item();
 	}
diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp
index e40063b844..e109fd4654 100644
--- a/src/modules/navigator/rtl.cpp
+++ b/src/modules/navigator/rtl.cpp
@@ -136,9 +136,6 @@ RTL::set_rtl_item()
 {
 	struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
 
-	/* make sure we have the latest params */
-	updateParams();
-
 	if (!_rtl_start_lock) {
 		set_previous_pos_setpoint();
 	}