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GCS_MAVLink: handle MAV_CMD_FLASH_BOOTLOADER

This commit is contained in:
Peter Barker 2018-06-27 16:00:43 +10:00 committed by Andrew Tridgell
parent a81b3c8a7c
commit 4a8614fbbd
2 changed files with 19 additions and 0 deletions
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1
libraries/GCS_MAVLink/GCS.h
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@ -339,6 +339,7 @@ protected:
virtual uint32_t telem_delay() const = 0; 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_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 // generally this should not be overridden; Plane overrides it to ensure
// failsafe isn't triggered during calibation // failsafe isn't triggered during calibation

18
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -2456,6 +2456,20 @@ void GCS_MAVLINK::send_simstate() const
#endif #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) MAV_RESULT GCS_MAVLINK::handle_command_preflight_set_sensor_offsets(const mavlink_command_long_t &packet)
{ {
Compass *compass = get_compass(); 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); result = handle_command_preflight_calibration(packet);
break; break;
case MAV_CMD_FLASH_BOOTLOADER:
result = handle_command_flash_bootloader(packet);
break;
case MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS: { case MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS: {
result = handle_command_preflight_set_sensor_offsets(packet); result = handle_command_preflight_set_sensor_offsets(packet);
break; break;