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AP_UAVCAN: refuse to reboot via CAN if armed

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Peter Barker 2019-02-26 14:37:31 +11:00 committed by Andrew Tridgell
parent 94abc5a54d
commit 368aeb8e8e
1 changed files with 4 additions and 0 deletions
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4
libraries/AP_UAVCAN/AP_UAVCAN_Servers.cpp
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@ -88,6 +88,10 @@ class AP_UAVCAN_RestartRequestHandler : public uavcan::IRestartRequestHandler {
public:
bool handleRestartRequest(uavcan::NodeID request_source) override {
// swiped from reboot handling in GCS_Common.cpp
if (hal.util->get_soft_armed()) {
// refuse reboot when armed
return false;
}
AP_Notify *notify = AP_Notify::get_singleton();
if (notify) {
AP_Notify::flags.firmware_update = 1;