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Sub: move mavlink reboot code up to base class

This commit is contained in:
Peter Barker 2017-07-24 09:54:42 +10:00 committed by Peter Barker
parent 320e24af65
commit e0eb3424ec
2 changed files with 1 additions and 23 deletions
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23
ArduSub/GCS_Mavlink.cpp
View File

@ -941,29 +941,6 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
} }
break; break;
case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
if (is_equal(packet.param1,1.0f) || is_equal(packet.param1,3.0f)) {
// Send an invalid signal to the motors to prevent spinning due to neutral (1500) pwm pulse being cut short
// For that matter, send an invalid signal to all channels to prevent undesired/unexpected behavior
SRV_Channels::cork();
for (int i=0; i<NUM_RC_CHANNELS; i++) {
// Set to 1 because 0 is interpreted as flag to ignore update
hal.rcout->write(i, 1);
}
SRV_Channels::push();
result = MAV_RESULT_ACCEPTED;
// send ack before we reboot
mavlink_msg_command_ack_send_buf(msg, chan, packet.command, result);
AP_Notify::flags.firmware_update = 1;
sub.notify.update();
hal.scheduler->delay(200);
// when packet.param1 == 3 we reboot to hold in bootloader
hal.scheduler->reboot(is_equal(packet.param1,3.0f));
}
break;
case MAV_CMD_DO_FENCE_ENABLE: case MAV_CMD_DO_FENCE_ENABLE:
#if AC_FENCE == ENABLED #if AC_FENCE == ENABLED
result = MAV_RESULT_ACCEPTED; result = MAV_RESULT_ACCEPTED;

1
ArduSub/GCS_Mavlink.h
View File

@ -22,6 +22,7 @@ protected:
uint8_t sysid_my_gcs() const override; uint8_t sysid_my_gcs() const override;
bool set_mode(uint8_t mode) override; bool set_mode(uint8_t mode) override;
bool should_zero_rc_outputs_on_reboot() const override { return true; }
MAV_RESULT _handle_command_preflight_calibration_baro() override; MAV_RESULT _handle_command_preflight_calibration_baro() override;
MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_long_t &packet) override; MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_long_t &packet) override;