From ef7fc1a3046fa7c0ab7c6831b2e8b72ea5d7eeca Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 8 Oct 2022 08:55:00 +1100
Subject: [PATCH] DFReader: fixed defaults handling

---
 DFReader.py | 8 ++------
 1 file changed, 2 insertions(+), 6 deletions(-)

diff --git a/DFReader.py b/DFReader.py
index 74416cc5e..f250f917e 100644
--- a/DFReader.py
+++ b/DFReader.py
@@ -666,14 +666,10 @@ def _add_msg(self, m):
             self.flightmode = mavutil.mode_string_px4(m.MainState)
         if type == 'PARM' and getattr(m, 'Name', None) is not None:
             self.params[m.Name] = m.Value
-            if hasattr(m,'Default'):
+            if hasattr(m,'Default') and not math.isnan(m.Default):
                 if not hasattr(self,'param_defaults'):
                     self.param_defaults = {}
-                if math.isnan(m.Default):
-                    if not m.Name in self.param_defaults:
-                        self.param_defaults[m.Name] = m.Value
-                else:
-                    self.param_defaults[m.Name] = m.Default
+                self.param_defaults[m.Name] = m.Default
         self._set_time(m)
 
     def recv_match(self, condition=None, type=None, blocking=False):