Merge pull request #551 from dbowerman/system_reboot

Fix #502. Add Action::reboot()
mavlink · Sep 20, 2018 · de61562 · de61562
2 parents 2c858f9 + 2dfccf2
commit de61562
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diff --git a/plugins/action/action.cpp b/plugins/action/action.cpp
@@ -22,6 +22,11 @@ ActionResult Action::kill() const
     return _impl->kill();
 }
 
+ActionResult Action::reboot() const
+{
+    return _impl->reboot();
+}
+
 ActionResult Action::takeoff() const
 {
     return _impl->takeoff();

diff --git a/plugins/action/action_impl.cpp b/plugins/action/action_impl.cpp
@@ -99,6 +99,20 @@ ActionResult ActionImpl::kill() const
     return action_result_from_command_result(_parent->send_command(command));
 }
 
+ActionResult ActionImpl::reboot() const
+{
+    MAVLinkCommands::CommandLong command{};
+
+    command.command = MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN;
+    command.params.param1 = 1.0f; // reboot autopilot
+    command.params.param2 = 1.0f; // reboot onboard computer
+    command.params.param3 = 1.0f; // reboot camera
+    command.params.param4 = 1.0f; // reboot gimbal
+    command.target_component_id = _parent->get_autopilot_id();
+
+    return action_result_from_command_result(_parent->send_command(command));
+}
+
 ActionResult ActionImpl::takeoff() const
 {
     ActionResult ret = taking_off_allowed();

diff --git a/plugins/action/action_impl.h b/plugins/action/action_impl.h
@@ -23,6 +23,7 @@ class ActionImpl : public PluginImplBase {
     ActionResult arm() const;
     ActionResult disarm() const;
     ActionResult kill() const;
+    ActionResult reboot() const;
     ActionResult takeoff() const;
     ActionResult land() const;
     ActionResult return_to_launch() const;

diff --git a/plugins/action/include/plugins/action/action.h b/plugins/action/include/plugins/action/action.h
@@ -73,6 +73,15 @@ class Action : public PluginBase {
      */
     ActionResult kill() const;
 
+    /**
+     * @brief Send command to *reboot* the drone components.
+     *
+     * This will reboot the autopilot, onboard computer, camera and gimbal.
+     *
+     * @return ActionResult of request.
+     */
+    ActionResult reboot() const;
+
     /**
      * @brief Send command to *take off and hover* (synchronous).
      *