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GCS_MAVLink: added method to lockup autopilot

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used for watchdog testing
This commit is contained in:
Andrew Tridgell 2019-04-20 14:33:35 +10:00
parent 2476927048
commit 2313970eaf
1 changed files with 13 additions and 0 deletions
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13
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -2537,6 +2537,19 @@ void GCS_MAVLINK::zero_rc_outputs()
*/
MAV_RESULT GCS_MAVLINK::handle_preflight_reboot(const mavlink_command_long_t &packet)
{
if (is_equal(packet.param1, 42.0f) &&
is_equal(packet.param2, 24.0f) &&
is_equal(packet.param3, 71.0f) &&
is_equal(packet.param4, 93.0f)) {
// this is a magic sequence to force the main loop to
// lockup. This is for testing the stm32 watchdog
// functionality
while (true) {
send_text(MAV_SEVERITY_WARNING,"entering lockup");
hal.scheduler->delay(250);
}
}
if (hal.util->get_soft_armed()) {
// refuse reboot when armed
return MAV_RESULT_FAILED;