Don't call param_opcode unless there are dirty nodes [resolves PX4#3160]

wingver · Nov 20, 2015 · a27a6ac · a27a6ac
1 parent 1f33451
commit a27a6ac
Showing 1 changed file with 6 additions and 2 deletions.
diff --git a/src/modules/uavcan/uavcan_servers.cpp b/src/modules/uavcan/uavcan_servers.cpp
@@ -523,8 +523,12 @@ pthread_addr_t UavcanServers::run(pthread_addr_t)
 				switch (command_id) {
 				case 1: {
 						// Param save request
-						_param_save_opcode = uavcan::protocol::param::ExecuteOpcode::Request::OPCODE_SAVE;
-						param_opcode(get_next_dirty_node_id(1));
+						int node_id;
+						node_id = get_next_dirty_node_id(1);
+						if (node_id < 128) {
+							_param_save_opcode = uavcan::protocol::param::ExecuteOpcode::Request::OPCODE_SAVE;
+							param_opcode(node_id);
+						}
 						break;
 					}
 				case 2: {