From 021cb75d5bb86f24eadedfc5fde06c24c5179764 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 26 Feb 2019 15:20:40 +1100
Subject: [PATCH] Tools: autotest: use forced reboot argument

---
 Tools/autotest/arducopter.py |  3 +--
 Tools/autotest/common.py     | 13 ++++++++-----
 2 files changed, 9 insertions(+), 7 deletions(-)

diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index b0e6d14eeb..80b5734464 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -2192,8 +2192,7 @@ class AutoTestCopter(AutoTest):
 
         self.set_rc(2, 1500)
         self.context_pop()
-        self.disarm_vehicle(force=True)
-        self.reboot_sitl()
+        self.reboot_sitl(force=True)
 
         if ex is not None:
             raise ex
diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index ed654f089d..18fd2da3df 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -1897,7 +1897,7 @@ class AutoTest(ABC):
             0,  # p7
         )
 
-    def reboot_sitl_mav(self, required_bootcount=None):
+    def reboot_sitl_mav(self, required_bootcount=None, force=False):
         """Reboot SITL instance using mavlink and wait for it to reconnect."""
         # we must make sure that stats have been reset - otherwise
         # when we reboot we'll reset statistics again and lose our
@@ -1929,6 +1929,9 @@ class AutoTest(ABC):
             # receiving an ACK from the process turns out to be really
             # quite difficult.  So just send it and hope for the best.
             self.progress("Sending reboot command")
+            p6 = 0
+            if force:
+                p6 = 20190226  # magic force-reboot value
             self.send_cmd(
                 mavutil.mavlink.MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN,
                 1,
@@ -1936,7 +1939,7 @@ class AutoTest(ABC):
                 0,
                 0,
                 0,
-                0,
+                p6,
                 0)
             do_context = True
         if do_context:
@@ -1971,12 +1974,12 @@ class AutoTest(ABC):
                                        0,
                                        0)
 
-    def reboot_sitl(self, required_bootcount=None):
+    def reboot_sitl(self, required_bootcount=None, force=False):
         """Reboot SITL instance and wait for it to reconnect."""
-        if self.armed():
+        if self.armed() and not force:
             raise NotAchievedException("Reboot attempted while armed")
         self.progress("Rebooting SITL")
-        self.reboot_sitl_mav(required_bootcount=required_bootcount)
+        self.reboot_sitl_mav(required_bootcount=required_bootcount, force=force)
         self.do_heartbeats(force=True)
         self.assert_simstate_location_is_at_startup_location()