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GCS_MAVLink: do not process commands after we have decided to reboot

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Peter Barker 2020-06-16 14:21:40 +10:00 committed by Andrew Tridgell
parent d24a3d7a66
commit 21ae7d8153
1 changed files with 6 additions and 1 deletions
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7
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -2551,8 +2551,13 @@ MAV_RESULT GCS_MAVLINK::handle_preflight_reboot(const mavlink_command_long_t &pa
// flush pending parameter writes // flush pending parameter writes
AP_Param::flush(); AP_Param::flush();
// do not process incoming mavlink messages while we delay:
hal.scheduler->register_delay_callback(nullptr, 5);
// delay to give the ACK a chance to get out, the LEDs to flash,
// the IO board safety to be forced on, the parameters to flush, ...
hal.scheduler->delay(200); hal.scheduler->delay(200);
// when packet.param1 == 3 we reboot to hold in bootloader // when packet.param1 == 3 we reboot to hold in bootloader
const bool hold_in_bootloader = is_equal(packet.param1, 3.0f); const bool hold_in_bootloader = is_equal(packet.param1, 3.0f);
hal.scheduler->reboot(hold_in_bootloader); hal.scheduler->reboot(hold_in_bootloader);