Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-10 18:08:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

APM: added support for MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN

Browse Source 
this allows for remote reboot of APM
This commit is contained in:
Andrew Tridgell 2012-09-10 11:42:30 +10:00
parent e2779523ea
commit cb88681914
3 changed files with 23 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
ArduPlane/ArduPlane.pde
View File

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

10
ArduPlane/GCS_Mavlink.pde
View File

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

14
ArduPlane/system.pde
View File

@ -570,3 +570,17 @@ uint16_t board_voltage(void)
return vcc.read_vcc(); 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);
}