separate reboot / shutdown command openhd / fc

OpenHD · Dec 8, 2023 · 1023673 · 1023673
1 parent f3de61a
commit 1023673
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Showing 3 changed files with 11 additions and 6 deletions.
diff --git a/app/telemetry/action/create_cmd_helper.hpp b/app/telemetry/action/create_cmd_helper.hpp
@@ -6,13 +6,18 @@
 // Here we have various util methods to create mavlink_command_long_t commands
 namespace cmd::helper{
 
-static mavlink_command_long_t create_cmd_reboot(int target_sysid,int target_compid,bool reboot){
+// @Param: companion_computer: If set to true the message generated is for openhd
+// otherwise,it is for the FC
+static mavlink_command_long_t create_cmd_reboot(int target_sysid,int target_compid,bool reboot,bool companion_computer){
     mavlink_command_long_t cmd{};
     cmd.target_system=target_sysid;
     cmd.target_component=target_compid;
     cmd.command=MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN;
-    cmd.param1=(reboot ? 1 : 2);
-    //cmd.param2=(reboot ? 1 : 2);
+    if(companion_computer){
+        cmd.param2=(reboot ? 1 : 2);
+    }else{
+        cmd.param1=(reboot ? 1 : 2);
+    }
     return cmd;
 }
 

diff --git a/app/telemetry/action/fcaction.cpp b/app/telemetry/action/fcaction.cpp
@@ -177,7 +177,7 @@ void FCAction::request_home_position_from_fc()
 bool FCAction::send_command_reboot(bool reboot)
 {
     const auto fc_id=MavlinkTelemetry::instance().get_fc_mav_id();
-    auto command=cmd::helper::create_cmd_reboot(fc_id.sys_id,fc_id.comp_id,reboot);
+    auto command=cmd::helper::create_cmd_reboot(fc_id.sys_id,fc_id.comp_id,reboot,false);
     const auto res=CmdSender::instance().send_command_long_blocking(command);
     return res==CmdSender::Result::CMD_SUCCESS;
 }
diff --git a/app/telemetry/action/ohdaction.cpp b/app/telemetry/action/ohdaction.cpp
@@ -20,14 +20,14 @@ OHDAction& OHDAction::instance()
 
 bool OHDAction::send_command_reboot_air(bool reboot)
 {
-    auto command=cmd::helper::create_cmd_reboot(OHD_SYS_ID_AIR,MAV_COMP_ID_ONBOARD_COMPUTER,reboot);
+    auto command=cmd::helper::create_cmd_reboot(OHD_SYS_ID_AIR,MAV_COMP_ID_ONBOARD_COMPUTER,reboot,true);
     const auto res=CmdSender::instance().send_command_long_blocking(command);
     return res==CmdSender::Result::CMD_SUCCESS;
 }
 
 bool OHDAction::send_command_reboot_gnd(bool reboot)
 {
-    auto command=cmd::helper::create_cmd_reboot(OHD_SYS_ID_GROUND,MAV_COMP_ID_ONBOARD_COMPUTER,reboot);
+    auto command=cmd::helper::create_cmd_reboot(OHD_SYS_ID_GROUND,MAV_COMP_ID_ONBOARD_COMPUTER,reboot,true);
     const auto res=CmdSender::instance().send_command_long_blocking(command);
     return res==CmdSender::Result::CMD_SUCCESS;
 }