From ece09064c42cab5f135cf619becd4452656badab Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 17 Jan 2022 10:49:38 -0500
Subject: [PATCH] parameters: perform verification pass twice

 - on NuttX with MTD storage this is to ensure we are verifying what's
actually stored on ramtron or eeprom, not just what's cached by bchlib
---
 .ci/Jenkinsfile-hardware          | 3 +++
 Tools/HIL/test_airframes.sh       | 1 +
 src/lib/parameters/parameters.cpp | 4 ++--
 3 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/.ci/Jenkinsfile-hardware b/.ci/Jenkinsfile-hardware
index eb15472104..2692bca6d8 100644
--- a/.ci/Jenkinsfile-hardware
+++ b/.ci/Jenkinsfile-hardware
@@ -743,8 +743,10 @@ void checkStatus() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
   sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
 
   // run logger
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"'
@@ -778,6 +780,7 @@ void checkStatus() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
diff --git a/Tools/HIL/test_airframes.sh b/Tools/HIL/test_airframes.sh
index d6fd6b8c7d..f828686720 100755
--- a/Tools/HIL/test_airframes.sh
+++ b/Tools/HIL/test_airframes.sh
@@ -48,6 +48,7 @@ do
 
 	${DIR}/reboot.py --device ${SERIAL_DEVICE}
 
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/mtd_params' || true
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/microsd/parameters_backup.bson' || true
 
diff --git a/src/lib/parameters/parameters.cpp b/src/lib/parameters/parameters.cpp
index 417f4414ee..d5bc65f8a2 100644
--- a/src/lib/parameters/parameters.cpp
+++ b/src/lib/parameters/parameters.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2022 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -1212,7 +1212,7 @@ int param_save_default()
 				if (res == PX4_OK) {
 					// reopen file to verify
 					int fd_verify = ::open(filename, O_RDONLY, PX4_O_MODE_666);
-					res = param_verify(fd_verify);
+					res = param_verify(fd_verify) || lseek(fd_verify, 0, SEEK_SET) || param_verify(fd_verify);
 					::close(fd_verify);
 				}
 			}