Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_HAL_SITL: fix rebooting while in sensor config error loop

This commit is contained in:
Peter Barker 2019-07-08 18:02:18 +10:00 committed by Andrew Tridgell
parent 9afb334f0c
commit 848a70acd4
3 changed files with 13 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
libraries/AP_HAL_SITL/HAL_SITL_Class.cpp
View File

@ -191,6 +191,11 @@ void HAL_SITL::run(int argc, char * const argv[], Callbacks* callbacks) const
}
}
actually_reboot();
}
void HAL_SITL::actually_reboot()
{
execv(new_argv[0], new_argv);
AP_HAL::panic("PANIC: REBOOT FAILED: %s", strerror(errno));
}

1
libraries/AP_HAL_SITL/HAL_SITL_Class.h
View File

@ -12,6 +12,7 @@ class HAL_SITL : public AP_HAL::HAL {
public:
HAL_SITL();
void run(int argc, char * const argv[], Callbacks* callbacks) const override;
static void actually_reboot();
private:
HALSITL::SITL_State *_sitl_state;

7
libraries/AP_HAL_SITL/Scheduler.cpp
View File

@ -5,6 +5,7 @@
#include "UARTDriver.h"
#include <sys/time.h>
#include <fenv.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#if defined (__clang__)
#include <stdlib.h>
#else
@ -137,6 +138,12 @@ void Scheduler::sitl_end_atomic() {
void Scheduler::reboot(bool hold_in_bootloader)
{
if (AP_BoardConfig::in_sensor_config_error()) {
// the _should_reboot flag set below is not checked by the
// sensor-config-error loop, so force the reboot here:
HAL_SITL::actually_reboot();
abort();
}
_should_reboot = true;
}