Copter: fix to prevent cli from being entered more than 20seconds after reboot

ArduCopter/GCS.h

@@ -133,6 +133,8 @@ public:
     // see if we should send a stream now. Called at 50Hz
     bool        stream_trigger(enum streams stream_num);
 
+    // call to reset the timeout window for entering the cli
+    void reset_cli_timeout();
 private:
     void        handleMessage(mavlink_message_t * msg);
 
@@ -204,6 +206,10 @@ private:
 
     // number of extra ticks to add to slow things down for the radio
     uint8_t         stream_slowdown;
+
+    // millis value to calculate cli timeout relative to.
+    // exists so we can separate the cli entry time from the system start time
+    uint32_t _cli_timeout;
 };
 
 #endif // __GCS_H

ArduCopter/GCS_Mavlink.pde

@@ -781,6 +781,7 @@ GCS_MAVLINK::init(FastSerial * port)
         chan = MAVLINK_COMM_1;
     }
     _queued_parameter = NULL;
+    reset_cli_timeout();
 }
 
 void
@@ -799,7 +800,7 @@ GCS_MAVLINK::update(void)
 #if CLI_ENABLED == ENABLED
         /* allow CLI to be started by hitting enter 3 times, if no
          *  heartbeat packets have been received */
-        if (mavlink_active == false) {
+        if (mavlink_active == false && (millis() - _cli_timeout) < 20000 && !motors.armed()) {
             if (c == '\n' || c == '\r') {
                 crlf_count++;
             } else {
@@ -2045,6 +2046,10 @@ GCS_MAVLINK::queued_waypoint_send()
     }
 }
 
+void GCS_MAVLINK::reset_cli_timeout() {
+      _cli_timeout = millis();
+}
+
 /*
  *  a delay() callback that processes MAVLink packets. We set this as the
  *  callback in long running library initialisation routines to allow

ArduCopter/ReleaseNotes.txt

@@ -8,6 +8,7 @@ Improvements over 2.9.1:
 4) bug fix for alt_hold being passed as int16_t to get_throttle_althold_with_slew
 5) bug fix for throttle after acro flip (was being kept at min throttle if pilot switched out of ACRO mode while inverted)
 6) reduce yaw_rate P default to 0.20 (was 0.25)
+7) fix to prevent cli from being entered more than 20seconds after reboot
 
 ------------------------------------------------------------------
 ArduCopter 2.9.1 & 2.9.1-rc2 01-Feb-2013

ArduCopter/system.pde

@@ -199,6 +199,7 @@ static void init_ardupilot()
     } else if (DataFlash.NeedErase()) {
         gcs_send_text_P(SEVERITY_LOW, PSTR("ERASING LOGS"));
         do_erase_logs();
+        gcs0.reset_cli_timeout();
     }
     if (g.log_bitmask != 0) {
         DataFlash.start_new_log();