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GCS_MAVLink: disable reboot when armed

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this prevents reboot on vehicles that have ARMING_REQUIRE=0, which
applies to some planes, but those vehicles tend to not use MAVLink
reboot anyway.
This commit is contained in:
Andrew Tridgell 2018-12-04 13:09:25 +11:00
parent e71eae7d3b
commit 778b88cba2
1 changed files with 5 additions and 0 deletions
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5
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -2507,6 +2507,11 @@ void GCS_MAVLINK::zero_rc_outputs()
*/ */
MAV_RESULT GCS_MAVLINK::handle_preflight_reboot(const mavlink_command_long_t &packet) MAV_RESULT GCS_MAVLINK::handle_preflight_reboot(const mavlink_command_long_t &packet)
{ {
if (hal.util->get_soft_armed()) {
// refuse reboot when armed
return MAV_RESULT_FAILED;
}
if (!(is_equal(packet.param1, 1.0f) || is_equal(packet.param1, 3.0f))) { if (!(is_equal(packet.param1, 1.0f) || is_equal(packet.param1, 3.0f))) {
// param1 must be 1 or 3 - 1 being reboot, 3 being reboot-to-bootloader // param1 must be 1 or 3 - 1 being reboot, 3 being reboot-to-bootloader
return MAV_RESULT_UNSUPPORTED; return MAV_RESULT_UNSUPPORTED;