From 6097f1aa61c0e154b6e97fb759cf5761934c8efd Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 21 Jun 2023 17:25:06 +1000
Subject: [PATCH] GCS_MAVLink: allow removal of preflight commands to fail the
 autopilot

---
 libraries/GCS_MAVLink/GCS_Common.cpp | 3 +++
 libraries/GCS_MAVLink/GCS_config.h   | 5 +++++
 2 files changed, 8 insertions(+)

diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index c5a3fe29aa..592ae2274a 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -3100,6 +3100,7 @@ MAV_RESULT GCS_MAVLINK::handle_preflight_reboot(const mavlink_command_long_t &pa
     if (is_equal(packet.param1, 42.0f) &&
         is_equal(packet.param2, 24.0f) &&
         is_equal(packet.param3, 71.0f)) {
+#if AP_MAVLINK_FAILURE_CREATION_ENABLED
         if (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
@@ -3153,6 +3154,8 @@ MAV_RESULT GCS_MAVLINK::handle_preflight_reboot(const mavlink_command_long_t &pa
             INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
             return MAV_RESULT_ACCEPTED;
         }
+#endif  // AP_MAVLINK_FAILURE_CREATION_ENABLED
+
 #if HAL_ENABLE_DFU_BOOT
         if (is_equal(packet.param4, 99.0f)) {
 #if AP_SIGNED_FIRMWARE
diff --git a/libraries/GCS_MAVLink/GCS_config.h b/libraries/GCS_MAVLink/GCS_config.h
index ef687e8ef3..8837515d5e 100644
--- a/libraries/GCS_MAVLink/GCS_config.h
+++ b/libraries/GCS_MAVLink/GCS_config.h
@@ -44,3 +44,8 @@
 #ifndef AP_MAVLINK_MSG_RELAY_STATUS_ENABLED
 #define AP_MAVLINK_MSG_RELAY_STATUS_ENABLED HAL_GCS_ENABLED && AP_RELAY_ENABLED
 #endif
+
+// allow removal of developer-centric mavlink commands
+#ifndef AP_MAVLINK_FAILURE_CREATION_ENABLED
+#define AP_MAVLINK_FAILURE_CREATION_ENABLED 1
+#endif