diff --git a/libraries/AP_HAL/Scheduler.h b/libraries/AP_HAL/Scheduler.h
index 7f7dfec347..7f4fecec5a 100644
--- a/libraries/AP_HAL/Scheduler.h
+++ b/libraries/AP_HAL/Scheduler.h
@@ -37,7 +37,7 @@ public:
     virtual void     system_initialized() = 0;
 
     virtual void     panic(const prog_char_t *errormsg) = 0;
-    virtual void     reboot() = 0;
+    virtual void     reboot(bool hold_in_bootloader) = 0;
 };
 
 #endif // __AP_HAL_SCHEDULER_H__
diff --git a/libraries/AP_HAL_AVR/Scheduler.cpp b/libraries/AP_HAL_AVR/Scheduler.cpp
index cbf26b78c1..7c80d259c5 100644
--- a/libraries/AP_HAL_AVR/Scheduler.cpp
+++ b/libraries/AP_HAL_AVR/Scheduler.cpp
@@ -212,7 +212,7 @@ void AVRScheduler::panic(const prog_char_t* errormsg) {
     for(;;);
 }
 
-void AVRScheduler::reboot() {
+void AVRScheduler::reboot(bool hold_in_bootloader) {
     hal.uartA->println_P(PSTR("GOING DOWN FOR A REBOOT\r\n"));
     hal.scheduler->delay(100);
 #if CONFIG_HAL_BOARD == HAL_BOARD_APM2
diff --git a/libraries/AP_HAL_AVR/Scheduler.h b/libraries/AP_HAL_AVR/Scheduler.h
index 58a41c8f3e..5406eeb7a1 100644
--- a/libraries/AP_HAL_AVR/Scheduler.h
+++ b/libraries/AP_HAL_AVR/Scheduler.h
@@ -44,7 +44,7 @@ public:
     void     system_initialized();
 
     void     panic(const prog_char_t *errormsg);
-    void     reboot();
+    void     reboot(bool hold_in_bootloader);
 
 private:
     static AVRTimer _timer;
diff --git a/libraries/AP_HAL_AVR_SITL/Scheduler.cpp b/libraries/AP_HAL_AVR_SITL/Scheduler.cpp
index edafb7c5ab..e94975f77f 100644
--- a/libraries/AP_HAL_AVR_SITL/Scheduler.cpp
+++ b/libraries/AP_HAL_AVR_SITL/Scheduler.cpp
@@ -161,7 +161,7 @@ void SITLScheduler::sitl_end_atomic() {
         _nested_atomic_ctr--;
 }   
 
-void SITLScheduler::reboot() 
+void SITLScheduler::reboot(bool hold_in_bootloader) 
 {
     hal.uartA->println_P(PSTR("REBOOT NOT IMPLEMENTED\r\n"));
 }
diff --git a/libraries/AP_HAL_AVR_SITL/Scheduler.h b/libraries/AP_HAL_AVR_SITL/Scheduler.h
index 6419addfb1..6ef5c43733 100644
--- a/libraries/AP_HAL_AVR_SITL/Scheduler.h
+++ b/libraries/AP_HAL_AVR_SITL/Scheduler.h
@@ -34,7 +34,7 @@ public:
     bool     system_initializing();
     void     system_initialized();
 
-    void     reboot();
+    void     reboot(bool hold_in_bootloader);
     void     panic(const prog_char_t *errormsg);
 
     bool     interrupts_are_blocked(void) { return _nested_atomic_ctr != 0; }
diff --git a/libraries/AP_HAL_Empty/Scheduler.cpp b/libraries/AP_HAL_Empty/Scheduler.cpp
index 2e108783be..07327fbf0c 100644
--- a/libraries/AP_HAL_Empty/Scheduler.cpp
+++ b/libraries/AP_HAL_Empty/Scheduler.cpp
@@ -64,6 +64,6 @@ void EmptyScheduler::panic(const prog_char_t *errormsg) {
     for(;;);
 }
 
-void EmptyScheduler::reboot() {
+void EmptyScheduler::reboot(bool hold_in_bootloader) {
     for(;;);
 }
diff --git a/libraries/AP_HAL_Empty/Scheduler.h b/libraries/AP_HAL_Empty/Scheduler.h
index 3dd7fc0fb8..a9e2af7467 100644
--- a/libraries/AP_HAL_Empty/Scheduler.h
+++ b/libraries/AP_HAL_Empty/Scheduler.h
@@ -31,7 +31,7 @@ public:
     void     system_initialized();
 
     void     panic(const prog_char_t *errormsg);
-    void     reboot();
+    void     reboot(bool hold_in_bootloader);
 
 };
 
diff --git a/libraries/AP_HAL_PX4/Scheduler.cpp b/libraries/AP_HAL_PX4/Scheduler.cpp
index edfea9a5a2..93c9d9ef24 100644
--- a/libraries/AP_HAL_PX4/Scheduler.cpp
+++ b/libraries/AP_HAL_PX4/Scheduler.cpp
@@ -168,9 +168,9 @@ void PX4Scheduler::resume_timer_procs()
     }
 }
 
-void PX4Scheduler::reboot() 
+void PX4Scheduler::reboot(bool hold_in_bootloader) 
 {
-	systemreset(false);
+	systemreset(hold_in_bootloader);
 }
 
 void PX4Scheduler::_run_timers(bool called_from_timer_thread)
diff --git a/libraries/AP_HAL_PX4/Scheduler.h b/libraries/AP_HAL_PX4/Scheduler.h
index 776f7178af..5b273f667d 100644
--- a/libraries/AP_HAL_PX4/Scheduler.h
+++ b/libraries/AP_HAL_PX4/Scheduler.h
@@ -35,7 +35,7 @@ public:
     void     register_timer_failsafe(AP_HAL::TimedProc, uint32_t period_us);
     void     suspend_timer_procs();
     void     resume_timer_procs();
-    void     reboot();
+    void     reboot(bool hold_in_bootloader);
     void     panic(const prog_char_t *errormsg);
 
     bool     in_timerprocess();
diff --git a/libraries/AP_HAL_SMACCM/Scheduler.cpp b/libraries/AP_HAL_SMACCM/Scheduler.cpp
index 6fd62c6217..ea95b922c9 100644
--- a/libraries/AP_HAL_SMACCM/Scheduler.cpp
+++ b/libraries/AP_HAL_SMACCM/Scheduler.cpp
@@ -246,7 +246,7 @@ void SMACCMScheduler::panic(const prog_char_t *errormsg)
     ;
 }
 
-void SMACCMScheduler::reboot()
+void SMACCMScheduler::reboot(bool hold_in_bootloader)
 {
   for(;;)
     ;
diff --git a/libraries/AP_HAL_SMACCM/Scheduler.h b/libraries/AP_HAL_SMACCM/Scheduler.h
index b3b2f8b08f..6530486c60 100644
--- a/libraries/AP_HAL_SMACCM/Scheduler.h
+++ b/libraries/AP_HAL_SMACCM/Scheduler.h
@@ -88,7 +88,7 @@ public:
   void panic(const prog_char_t *errormsg);
 
   /** Reboot the firmware.  Not implemented. */
-  void reboot();
+  void reboot(bool hold_in_bootloader);
 
   /**
    * Run timed and deferred processes.  This should not be called from