AP_Param: warn on last pass only about unknown parameters

Do not warn about unknown parameters on the first pass, i.e. when
AP_Param:load_all() is called. This is because we may still not know
about dynamically loaded parameters. When we call the second (last)
time, we expect to already know all possible parameters, so print a
warning to both console and the debug terminal.

ArduCopter/system.cpp

@@ -611,7 +611,7 @@ void Copter::allocate_motors(void)
 #endif
 
     // reload lines from the defaults file that may now be accessible
-    AP_Param::reload_defaults_file();
+    AP_Param::reload_defaults_file(true);
     
     // now setup some frame-class specific defaults
     switch ((AP_Motors::motor_frame_class)g2.frame_class.get()) {

ArduPlane/system.cpp

@@ -184,7 +184,7 @@ void Plane::init_ardupilot()
 
     quadplane.setup();
 
-    AP_Param::reload_defaults_file();
+    AP_Param::reload_defaults_file(true);
     
     startup_ground();
 

libraries/AP_Param/AP_Param.cpp

@@ -1274,7 +1274,7 @@ bool AP_Param::load_all()
     struct Param_header phdr;
     uint16_t ofs = sizeof(AP_Param::EEPROM_header);
 
-    reload_defaults_file();
+    reload_defaults_file(false);
 
     while (ofs < _storage.size()) {
         _storage.read_block(&phdr, ofs, sizeof(phdr));
@@ -1302,12 +1302,14 @@ bool AP_Param::load_all()
 }
 
 /*
-  reload from hal.util defaults file
+ * reload from hal.util defaults file or embedded param region
+ * @last_pass: if this is the last pass on defaults - unknown parameters are
+ *             ignored but if this is set a warning will be emitted
  */
-void AP_Param::reload_defaults_file()
+void AP_Param::reload_defaults_file(bool last_pass)
 {
     if (param_defaults_data.length != 0) {
-        load_embedded_param_defaults();
+        load_embedded_param_defaults(last_pass);
         return;
     }
 
@@ -1318,7 +1320,7 @@ void AP_Param::reload_defaults_file()
      */
     const char *default_file = hal.util->get_custom_defaults_file();
     if (default_file) {
-        if (load_defaults_file(default_file)) {
+        if (load_defaults_file(default_file, last_pass)) {
             printf("Loaded defaults from %s\n", default_file);
         } else {
             printf("Failed to load defaults from %s\n", default_file);
@@ -1815,7 +1817,7 @@ bool AP_Param::count_defaults_in_file(const char *filename, uint16_t &num_defaul
     return true;
 }
 
-bool AP_Param::read_param_defaults_file(const char *filename)
+bool AP_Param::read_param_defaults_file(const char *filename, bool last_pass)
 {
     FILE *f = fopen(filename, "r");
     if (f == nullptr) {
@@ -1834,8 +1836,13 @@ 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);
+            if (last_pass) {
+                ::printf("Ignored unknown param %s in defaults file %s\n",
+                         pname, filename);
+                hal.console->printf(
+                         "Ignored unknown param %s in defaults file %s\n",
+                         pname, filename);
+            }
             continue;
         }
         param_overrides[idx].object_ptr = vp;
@@ -1852,7 +1859,7 @@ 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 AP_Param::load_defaults_file(const char *filename, bool last_pass)
 {
     if (filename == nullptr) {
         return false;
@@ -1894,7 +1901,7 @@ bool AP_Param::load_defaults_file(const char *filename)
     for (char *pname = strtok_r(mutable_filename, ",", &saveptr);
          pname != nullptr;
          pname = strtok_r(nullptr, ",", &saveptr)) {
-        if (!read_param_defaults_file(pname)) {
+        if (!read_param_defaults_file(pname, last_pass)) {
             free(mutable_filename);
             return false;
         }
@@ -1957,11 +1964,12 @@ bool AP_Param::count_embedded_param_defaults(uint16_t &count)
     return true;
 }
 
-
 /*
-  load a default set of parameters from a embedded parameter region
+ * load a default set of parameters from a embedded parameter region
+ * @last_pass: if this is the last pass on defaults - unknown parameters are
+ *             ignored but if this is set a warning will be emitted
  */
-void AP_Param::load_embedded_param_defaults()
+void AP_Param::load_embedded_param_defaults(bool last_pass)
 {
     if (param_overrides != nullptr) {
         free(param_overrides);
@@ -2015,8 +2023,13 @@ void AP_Param::load_embedded_param_defaults()
         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);
+            if (last_pass) {
+                ::printf("Ignored unknown param %s from embedded region (offset=%u)\n",
+                         pname, ptr - param_defaults_data.data);
+                hal.console->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

@@ -327,7 +327,7 @@ public:
 
     /// reoad the hal.util defaults file. Called after pointer parameters have been allocated
     ///
-    static void reload_defaults_file();
+    static void reload_defaults_file(bool last_pass);
     
     static void load_object_from_eeprom(const void *object_pointer, const struct GroupInfo *group_info);
     
@@ -574,15 +574,15 @@ 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);
-    static bool read_param_defaults_file(const char *filename);
-    static bool load_defaults_file(const char *filename);
+    static bool read_param_defaults_file(const char *filename, bool last_pass);
+    static bool load_defaults_file(const char *filename, bool last_pass);
 #endif
 
     /*
       load defaults from embedded parameters
      */
     static bool count_embedded_param_defaults(uint16_t &count);
-    static void load_embedded_param_defaults();
+    static void load_embedded_param_defaults(bool last_pass);
     
     // send a parameter to all GCS instances
     void send_parameter(const char *name, enum ap_var_type param_header_type, uint8_t idx) const;