From 9611baf14816cf9a6c4e8e4abe3688db5d206f63 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Thu, 8 Jun 2023 08:09:10 +0100
Subject: [PATCH] AP_Vehicle: soft reboot iomcu on soft reboot

---
 libraries/AP_Vehicle/AP_Vehicle.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index ef83ac322a..442fbbe373 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -18,6 +18,10 @@
 #include <AP_HAL_ChibiOS/hwdef/common/stm32_util.h>
 #endif
 #include <AP_DDS/AP_DDS_Client.h>
+#if HAL_WITH_IO_MCU
+#include <AP_IOMCU/AP_IOMCU.h>
+extern AP_IOMCU iomcu;
+#endif
 
 #define SCHED_TASK(func, rate_hz, max_time_micros, prio) SCHED_TASK_CLASS(AP_Vehicle, &vehicle, func, rate_hz, max_time_micros, prio)
 
@@ -785,6 +789,10 @@ void AP_Vehicle::reboot(bool hold_in_bootloader)
     // the IO board safety to be forced on, the parameters to flush, ...
     hal.scheduler->delay(200);
 
+#if HAL_WITH_IO_MCU
+    iomcu.soft_reboot();
+#endif
+
     hal.scheduler->reboot(hold_in_bootloader);
 }