From fcddb6f2528c510646c1ac656a9ea0ebb74f08fe Mon Sep 17 00:00:00 2001
From: DonLakeFlyer <don@thegagnes.com>
Date: Fri, 16 Feb 2018 10:34:05 -0800
Subject: [PATCH] Remove usage of PREFLIGHT_STORAGE

Buggy and no longer needed
---
 src/FactSystem/ParameterManager.cc          | 22 ----------------------
 src/FactSystem/ParameterManager.h           |  1 -
 src/FirmwarePlugin/FirmwarePlugin.h         |  9 ++++-----
 src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc |  2 +-
 4 files changed, 5 insertions(+), 29 deletions(-)

diff --git a/src/FactSystem/ParameterManager.cc b/src/FactSystem/ParameterManager.cc
index 03b994d..775c4e9 100644
--- a/src/FactSystem/ParameterManager.cc
+++ b/src/FactSystem/ParameterManager.cc
@@ -324,11 +324,6 @@ void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString
         _setupCategoryMap();
     }
 
-    if (_prevWaitingWriteParamNameCount != 0 &&  waitingWriteParamNameCount == 0) {
-        // If all the writes just finished the vehicle is up to date, so persist.
-        _saveToEEPROM();
-    }
-
     // Update param cache. The param cache is only used on PX4 Firmware since ArduPilot and Solo have volatile params
     // which invalidate the cache. The Solo also streams param updates in flight for things like gimbal values
     // which in turn causes a perf problem with all the param cache updates.
@@ -862,23 +857,6 @@ void ParameterManager::_tryCacheHashLoad(int vehicleId, int componentId, QVarian
     }
 }
 
-void ParameterManager::_saveToEEPROM(void)
-{
-    if (_saveRequired) {
-        _saveRequired = false;
-        if (_vehicle->firmwarePlugin()->isCapable(_vehicle, FirmwarePlugin::MavCmdPreflightStorageCapability)) {
-            _vehicle->sendMavCommand(MAV_COMP_ID_ALL,
-                                     MAV_CMD_PREFLIGHT_STORAGE,
-                                     true,  // showError
-                                     1,     // Write parameters to EEPROM
-                                     -1);   // Don't do anything with mission storage
-            qCDebug(ParameterManagerLog) << _logVehiclePrefix() << "_saveToEEPROM";
-        } else {
-            qCDebug(ParameterManagerLog) << _logVehiclePrefix() << "_saveToEEPROM skipped due to FirmwarePlugin::isCapable";
-        }
-    }
-}
-
 QString ParameterManager::readParametersFromStream(QTextStream& stream)
 {
     QString errors;
diff --git a/src/FactSystem/ParameterManager.h b/src/FactSystem/ParameterManager.h
index d0f45b1..a4f06d7 100644
--- a/src/FactSystem/ParameterManager.h
+++ b/src/FactSystem/ParameterManager.h
@@ -153,7 +153,6 @@ private:
 
     MAV_PARAM_TYPE _factTypeToMavType(FactMetaData::ValueType_t factType);
     FactMetaData::ValueType_t _mavTypeToFactType(MAV_PARAM_TYPE mavType);
-    void _saveToEEPROM(void);
     void _checkInitialLoadComplete(void);
 
     /// First mapping is by component id
diff --git a/src/FirmwarePlugin/FirmwarePlugin.h b/src/FirmwarePlugin/FirmwarePlugin.h
index 4016383..5242eb6 100644
--- a/src/FirmwarePlugin/FirmwarePlugin.h
+++ b/src/FirmwarePlugin/FirmwarePlugin.h
@@ -43,11 +43,10 @@ public:
     /// Set of optional capabilites which firmware may support
     typedef enum {
         SetFlightModeCapability =           1 << 0, ///< FirmwarePlugin::setFlightMode method is supported
-        MavCmdPreflightStorageCapability =  1 << 1, ///< MAV_CMD_PREFLIGHT_STORAGE is supported
-        PauseVehicleCapability =            1 << 2, ///< Vehicle supports pausing at current location
-        GuidedModeCapability =              1 << 3, ///< Vehicle supports guided mode commands
-        OrbitModeCapability =               1 << 4, ///< Vehicle supports orbit mode
-        TakeoffVehicleCapability =          1 << 5, ///< Vehicle supports guided takeoff
+        PauseVehicleCapability =            1 << 1, ///< Vehicle supports pausing at current location
+        GuidedModeCapability =              1 << 2, ///< Vehicle supports guided mode commands
+        OrbitModeCapability =               1 << 3, ///< Vehicle supports orbit mode
+        TakeoffVehicleCapability =          1 << 4, ///< Vehicle supports guided takeoff
     } FirmwareCapabilities;
 
     /// Maps from on parameter name to another
diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
index 3a5c797..d8b68b2 100644
--- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
+++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
@@ -227,7 +227,7 @@ int PX4FirmwarePlugin::manualControlReservedButtonCount(void)
 
 bool PX4FirmwarePlugin::isCapable(const Vehicle *vehicle, FirmwareCapabilities capabilities)
 {
-    int available = MavCmdPreflightStorageCapability | SetFlightModeCapability | PauseVehicleCapability | GuidedModeCapability;
+    int available = SetFlightModeCapability | PauseVehicleCapability | GuidedModeCapability;
     if (vehicle->multiRotor() || vehicle->vtol()) {
         available |= TakeoffVehicleCapability;
     }