From 6f8a873b1457a63980d4c3fb165d9520b28305f3 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 11 Apr 2019 21:14:38 +1000
Subject: [PATCH] AP_Bootloader: use fast boot after watchdog reset

---
 Tools/AP_Bootloader/AP_Bootloader.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/Tools/AP_Bootloader/AP_Bootloader.cpp b/Tools/AP_Bootloader/AP_Bootloader.cpp
index 417a39ced1..966d0f09f1 100644
--- a/Tools/AP_Bootloader/AP_Bootloader.cpp
+++ b/Tools/AP_Bootloader/AP_Bootloader.cpp
@@ -27,6 +27,7 @@
 #include "hwdef.h"
 #include <AP_HAL_ChibiOS/hwdef/common/usbcfg.h>
 #include <AP_HAL_ChibiOS/hwdef/common/stm32_util.h>
+#include <AP_HAL_ChibiOS/hwdef/common/watchdog.h>
 #include "support.h"
 #include "bl_protocol.h"
 
@@ -53,7 +54,10 @@ int main(void)
     uint32_t timeout = HAL_BOOTLOADER_TIMEOUT;
 
     enum rtc_boot_magic m = check_fast_reboot();
-    if (m == RTC_BOOT_HOLD) {
+    if (stm32_was_watchdog_reset()) {
+        try_boot = true;
+        timeout = 0;
+    } else if (m == RTC_BOOT_HOLD) {
         timeout = 0;
     } else if (m == RTC_BOOT_FAST) {
         try_boot = true;