From a292fe13d6d88a142345198c154906965b2b293e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 30 Aug 2021 15:16:34 +1000
Subject: [PATCH] GCS_MAVLink: add option to create internal error via
 preflight-reboot

useful for testing our handling of internal errors
---
 libraries/GCS_MAVLink/GCS_Common.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 78635d1fa4..b7a8045e1b 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -2776,6 +2776,11 @@ MAV_RESULT GCS_MAVLINK::handle_preflight_reboot(const mavlink_command_long_t &pa
             }
             return MAV_RESULT_ACCEPTED;
         }
+        if (is_equal(packet.param4, 98.0f)) {
+            send_text(MAV_SEVERITY_WARNING,"Creating internal error");
+            INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
+            return MAV_RESULT_ACCEPTED;
+        }
     }
 
     if (hal.util->get_soft_armed()) {