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GCS_MAVLink: send ack before board reboot

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Based on https://github.com/ArduPilot/ardupilot/pull/6640
This commit is contained in:
Peter Barker 2017-07-23 08:52:18 +10:00 committed by Peter Barker
parent 7785a962dc
commit 73bbe8b84e
1 changed files with 3 additions and 2 deletions
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5
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -1797,7 +1797,8 @@ MAV_RESULT GCS_MAVLINK::handle_preflight_reboot(const mavlink_command_long_t &pa
}
#endif
}
// send ack before we reboot
mavlink_msg_command_ack_send(chan, packet.command, MAV_RESULT_ACCEPTED);
// force safety on
hal.rcout->force_safety_on();
hal.rcout->force_safety_no_wait();
@ -1806,7 +1807,7 @@ MAV_RESULT GCS_MAVLINK::handle_preflight_reboot(const mavlink_command_long_t &pa
// when packet.param1 == 3 we reboot to hold in bootloader
bool hold_in_bootloader = is_equal(packet.param1,3.0f);
hal.scheduler->reboot(hold_in_bootloader);
return MAV_RESULT_ACCEPTED;
return MAV_RESULT_FAILED;
}
return MAV_RESULT_UNSUPPORTED;
}