From 885fc79af55bd7b3e14145f62fb7b7fabdc5667d Mon Sep 17 00:00:00 2001
From: Pat Hickey <pat@galois.com>
Date: Mon, 17 Dec 2012 16:28:22 -0800
Subject: [PATCH] AP_HAL_Empty: add panic method to scheduler

---
 libraries/AP_HAL_Empty/Scheduler.cpp | 7 +++++++
 libraries/AP_HAL_Empty/Scheduler.h   | 1 +
 2 files changed, 8 insertions(+)

diff --git a/libraries/AP_HAL_Empty/Scheduler.cpp b/libraries/AP_HAL_Empty/Scheduler.cpp
index 1dcdaa1a30..0698a3b3de 100644
--- a/libraries/AP_HAL_Empty/Scheduler.cpp
+++ b/libraries/AP_HAL_Empty/Scheduler.cpp
@@ -3,6 +3,8 @@
 
 using namespace Empty;
 
+extern const AP_HAL::HAL& hal;
+
 EmptyScheduler::EmptyScheduler()
 {}
 
@@ -51,6 +53,11 @@ void EmptyScheduler::begin_atomic()
 void EmptyScheduler::end_atomic()
 {}
 
+void EmptyScheduler::panic(const prog_char_t *errormsg) {
+    hal.console->println_P(errormsg);
+    for(;;);
+}
+
 void EmptyScheduler::reboot() {
     for(;;);
 }
diff --git a/libraries/AP_HAL_Empty/Scheduler.h b/libraries/AP_HAL_Empty/Scheduler.h
index fc1b3cd53f..e64a4d7c52 100644
--- a/libraries/AP_HAL_Empty/Scheduler.h
+++ b/libraries/AP_HAL_Empty/Scheduler.h
@@ -24,6 +24,7 @@ public:
     void     begin_atomic();
     void     end_atomic();
 
+    void     panic(const prog_char_t *errormsg);
     void     reboot();
 
 };