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GCS_MAVLink: handle MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN as INT or LONG

This commit is contained in:
Peter Barker 2023-09-13 19:01:31 +10:00 committed by Andrew Tridgell
parent 8e4755f202
commit 5b0393e280
2 changed files with 7 additions and 8 deletions
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2
libraries/GCS_MAVLink/GCS.h
View File

@ -572,7 +572,7 @@ protected:
void handle_common_message(const mavlink_message_t &msg);
void handle_set_gps_global_origin(const mavlink_message_t &msg);
void handle_setup_signing(const mavlink_message_t &msg) const;
virtual MAV_RESULT handle_preflight_reboot(const mavlink_command_long_t &packet, const mavlink_message_t &msg);
virtual MAV_RESULT handle_preflight_reboot(const mavlink_command_int_t &packet, const mavlink_message_t &msg);
struct {
HAL_Semaphore sem;
bool taken;

13
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -3120,7 +3120,7 @@ void GCS_MAVLINK::send_vfr_hud()
motors. That can be dangerous when a preflight reboot is done with
the pilot close to the aircraft and can also damage the aircraft
*/
MAV_RESULT GCS_MAVLINK::handle_preflight_reboot(const mavlink_command_long_t &packet, const mavlink_message_t &msg)
MAV_RESULT GCS_MAVLINK::handle_preflight_reboot(const mavlink_command_int_t &packet, const mavlink_message_t &msg)
{
if (is_equal(packet.param1, 42.0f) &&
is_equal(packet.param2, 24.0f) &&
@ -3208,8 +3208,8 @@ MAV_RESULT GCS_MAVLINK::handle_preflight_reboot(const mavlink_command_long_t &pa
// refuse reboot when armed:
if (hal.util->get_soft_armed()) {
/// but allow it if forced:
const float magic_force_reboot_value = 20190226;
if (!is_equal(packet.param6, magic_force_reboot_value)) {
const uint32_t magic_force_reboot_value = 20190226;
if (packet.y != magic_force_reboot_value) {
return MAV_RESULT_FAILED;
}
}
@ -4867,10 +4867,6 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
result = handle_can_forward(packet, msg);
break;
case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
result = handle_preflight_reboot(packet, msg);
break;
default:
result = try_command_long_as_command_int(packet, msg);
break;
@ -5148,6 +5144,9 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
case MAV_CMD_PREFLIGHT_CALIBRATION:
return handle_command_preflight_calibration(packet, msg);
case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
return handle_preflight_reboot(packet, msg);
#if AP_MAVLINK_SERVO_RELAY_ENABLED
case MAV_CMD_DO_SET_SERVO:
case MAV_CMD_DO_REPEAT_SERVO: