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Copter: enable magic lockup command

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for watchdog testing
This commit is contained in:
Andrew Tridgell 2019-05-07 12:26:09 +10:00 committed by Randy Mackay
parent 92741c4e80
commit 5396d3aa7b
1 changed files with 13 additions and 0 deletions
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13
ArduCopter/GCS_Mavlink.cpp
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@ -980,6 +980,19 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
break; break;
case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN: case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
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 (is_equal(packet.param1,1.0f) || is_equal(packet.param1,3.0f)) { if (is_equal(packet.param1,1.0f) || is_equal(packet.param1,3.0f)) {
AP_Notify::flags.firmware_update = 1; AP_Notify::flags.firmware_update = 1;
copter.notify.update(); copter.notify.update();