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Sub: Acknowledge reboot before rebooting

This commit is contained in:
dheideman 2017-07-21 10:54:34 -07:00 committed by Randy Mackay
parent ebc8dc4afc
commit 199485beae
1 changed files with 4 additions and 1 deletions
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5
ArduSub/GCS_Mavlink.cpp
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@ -1263,12 +1263,15 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
}
hal.rcout->push();
result = MAV_RESULT_ACCEPTED;
// send ack before we reboot
mavlink_msg_command_ack_send_buf(msg, chan, packet.command, result);
AP_Notify::flags.firmware_update = 1;
sub.update_notify();
hal.scheduler->delay(200);
// when packet.param1 == 3 we reboot to hold in bootloader
hal.scheduler->reboot(is_equal(packet.param1,3.0f));
result = MAV_RESULT_ACCEPTED;
}
break;