Lock down mav_sys_id and mav_comp_id

PX4#23601
ryanjAA · Sep 25, 2024 · 2699527 · 2699527
1 parent ce79d46
commit 2699527
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Showing 2 changed files with 14 additions and 13 deletions.
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
@@ -661,11 +661,23 @@ Commander::Commander() :
 	// default for vtol is rotary wing
 	_vtol_vehicle_status.vehicle_vtol_state = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
 
-	_param_mav_comp_id = param_find("MAV_COMP_ID");
-	_param_mav_sys_id = param_find("MAV_SYS_ID");
+	param_t param_mav_comp_id = param_find("MAV_COMP_ID");
+ 	param_t param_mav_sys_id = param_find("MAV_SYS_ID");
 	_param_mav_type = param_find("MAV_TYPE");
 	_param_rc_map_fltmode = param_find("RC_MAP_FLTMODE");
 
+	int32_t value_int32 = 0;
+
+ 	// MAV_SYS_ID => vehicle_status.system_id
+ 	if ((param_mav_sys_id != PARAM_INVALID) && (param_get(param_mav_sys_id, &value_int32) == PX4_OK)) {
+ 		_vehicle_status.system_id = value_int32;
+ 	}
+
+ 	// MAV_COMP_ID => vehicle_status.component_id
+ 	if ((param_mav_comp_id != PARAM_INVALID) && (param_get(param_mav_comp_id, &value_int32) == PX4_OK)) {
+ 		_vehicle_status.component_id = value_int32;
+ 	}
+
 	updateParameters();
 }
 
@@ -1574,15 +1586,6 @@ void Commander::updateParameters()
 
 	int32_t value_int32 = 0;
 
-	// MAV_SYS_ID => vehicle_status.system_id
-	if ((_param_mav_sys_id != PARAM_INVALID) && (param_get(_param_mav_sys_id, &value_int32) == PX4_OK)) {
-		_vehicle_status.system_id = value_int32;
-	}
-
-	// MAV_COMP_ID => vehicle_status.component_id
-	if ((_param_mav_comp_id != PARAM_INVALID) && (param_get(_param_mav_comp_id, &value_int32) == PX4_OK)) {
-		_vehicle_status.component_id = value_int32;
-	}
 
 	// MAV_TYPE -> vehicle_status.system_type
 	if ((_param_mav_type != PARAM_INVALID) && (param_get(_param_mav_type, &value_int32) == PX4_OK)) {

diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
@@ -303,8 +303,6 @@ class Commander : public ModuleBase<Commander>, public ModuleParams
 	perf_counter_t _preflight_check_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": preflight check")};
 
 	// optional parameters
-	param_t _param_mav_comp_id{PARAM_INVALID};
-	param_t _param_mav_sys_id{PARAM_INVALID};
 	param_t _param_mav_type{PARAM_INVALID};
 	param_t _param_rc_map_fltmode{PARAM_INVALID};