From 4a8614fbbdc9a969135005123375088bb9e6ff3c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 27 Jun 2018 16:00:43 +1000
Subject: [PATCH] GCS_MAVLink: handle MAV_CMD_FLASH_BOOTLOADER

---
 libraries/GCS_MAVLink/GCS.h          |  1 +
 libraries/GCS_MAVLink/GCS_Common.cpp | 18 ++++++++++++++++++
 2 files changed, 19 insertions(+)

diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index 565921bf16..19a072ac97 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -339,6 +339,7 @@ protected:
     virtual uint32_t telem_delay() const = 0;
 
     MAV_RESULT handle_command_preflight_set_sensor_offsets(const mavlink_command_long_t &packet);
+    MAV_RESULT handle_command_flash_bootloader(const mavlink_command_long_t &packet);
 
     // generally this should not be overridden; Plane overrides it to ensure
     // failsafe isn't triggered during calibation
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 5b5f7d1d1d..43291fbd38 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -2456,6 +2456,20 @@ void GCS_MAVLINK::send_simstate() const
 #endif
 }
 
+MAV_RESULT GCS_MAVLINK::handle_command_flash_bootloader(const mavlink_command_long_t &packet)
+{
+    if (int(packet.param5) != 290876) {
+        gcs().send_text(MAV_SEVERITY_INFO, "Magic not set");
+        return MAV_RESULT_FAILED;
+    }
+
+    if (!hal.util->flash_bootloader()) {
+        return MAV_RESULT_FAILED;
+    }
+
+    return MAV_RESULT_ACCEPTED;
+}
+
 MAV_RESULT GCS_MAVLINK::handle_command_preflight_set_sensor_offsets(const mavlink_command_long_t &packet)
 {
     Compass *compass = get_compass();
@@ -2680,6 +2694,10 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_message(mavlink_command_long_t &pack
         result = handle_command_preflight_calibration(packet);
         break;
 
+    case MAV_CMD_FLASH_BOOTLOADER:
+        result = handle_command_flash_bootloader(packet);
+        break;
+
     case MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS: {
         result = handle_command_preflight_set_sensor_offsets(packet);
         break;