APM: added support for MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN

this allows for remote reboot of APM

ArduPlane/ArduPlane.pde

@@ -21,6 +21,7 @@
 #include <avr/io.h>
 #include <avr/eeprom.h>
 #include <avr/pgmspace.h>
+#include <avr/wdt.h>
 #include <math.h>
 
 // Libraries

ArduPlane/GCS_Mavlink.pde

@@ -1042,7 +1042,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         mavlink_msg_command_long_decode(msg, &packet);
         if (mavlink_check_target(packet.target_system, packet.target_component)) break;
 
-        uint8_t result;
+        uint8_t result = MAV_RESULT_UNSUPPORTED;
 
         // do command
         send_text(SEVERITY_LOW,PSTR("command received: "));
@@ -1110,8 +1110,14 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             result = MAV_RESULT_ACCEPTED;
             break;
 
+        case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
+            if (packet.param1 == 1) {
+                reboot_apm();
+                result = MAV_RESULT_ACCEPTED;
+            }
+            break;
+
         default:
-            result = MAV_RESULT_UNSUPPORTED;
             break;
         }
 

ArduPlane/system.pde

@@ -570,3 +570,17 @@ uint16_t board_voltage(void)
     return vcc.read_vcc();
 }
 
+
+/*
+  force a software reset of the APM
+ */
+static void reboot_apm(void)
+{
+    Serial.println_P(PSTR("REBOOTING"));
+    delay(100);
+    // see http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1250663814/
+    // for the method
+    cli();
+    wdt_enable(WDTO_15MS);
+    while (1);
+}