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GCS_MAVLINK: support deliberate parameter corruption

This commit is contained in:
Andrew Tridgell 2021-02-05 18:09:12 +11:00
parent e6b1ef2d1e
commit b14232c85e
1 changed files with 37 additions and 8 deletions
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33
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -2512,8 +2512,8 @@ MAV_RESULT GCS_MAVLINK::handle_preflight_reboot(const mavlink_command_long_t &pa
{
if (is_equal(packet.param1, 42.0f) &&
is_equal(packet.param2, 24.0f) &&
is_equal(packet.param3, 71.0f) &&
is_equal(packet.param4, 93.0f)) {
is_equal(packet.param3, 71.0f)) {
if (is_equal(packet.param4, 93.0f)) {
// this is a magic sequence to force the main loop to
// lockup. This is for testing the stm32 watchdog
// functionality
@ -2522,6 +2522,35 @@ MAV_RESULT GCS_MAVLINK::handle_preflight_reboot(const mavlink_command_long_t &pa
hal.scheduler->delay(250);
}
}
if (is_equal(packet.param4, 94.0f)) {
// the following text is unlikely to make it out...
send_text(MAV_SEVERITY_WARNING,"deferencing a bad thing");
void *foo = (void*)0xE000ED38;
typedef void (*fptr)();
fptr gptr = (fptr) (void *) foo;
gptr();
return MAV_RESULT_FAILED;
}
if (is_equal(packet.param4, 95.0f)) {
// the following text is unlikely to make it out...
send_text(MAV_SEVERITY_WARNING,"calling AP_HAL::panic(...)");
AP_HAL::panic("panicing");
// keep calm and carry on
}
if (is_equal(packet.param4, 96.0f)) {
// deliberately corrupt parameter storage
send_text(MAV_SEVERITY_WARNING,"wiping parameter storage header");
StorageAccess param_storage{StorageManager::StorageParam};
uint8_t zeros[40] {};
param_storage.write_block(0, zeros, sizeof(zeros));
return MAV_RESULT_FAILED;
}
}
if (hal.util->get_soft_armed()) {
// refuse reboot when armed