From 0adc4afcb5df28f8ad91c47eb02d9790ce83addd Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Thu, 27 Dec 2012 21:29:00 +1100
Subject: [PATCH] InertialSensor: add reboot option in MPU6000 test

---
 libraries/AP_InertialSensor/examples/MPU6000/MPU6000.pde | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_InertialSensor/examples/MPU6000/MPU6000.pde b/libraries/AP_InertialSensor/examples/MPU6000/MPU6000.pde
index 829ef87931..0afb122aa3 100644
--- a/libraries/AP_InertialSensor/examples/MPU6000/MPU6000.pde
+++ b/libraries/AP_InertialSensor/examples/MPU6000/MPU6000.pde
@@ -64,7 +64,8 @@ void loop(void)
     "    c) calibrate accelerometers\r\n"
     "    d) display offsets and scaling\r\n"
     "    l) level (capture offsets from level)\r\n"
-    "    t) test"));
+    "    t) test\r\n"
+    "    r) reboot"));
 
     // wait for user input
     while( !hal.console->available() ) {
@@ -92,6 +93,10 @@ void loop(void)
         if( user_input == 't' || user_input == 'T' ) {
             run_test();
         }
+
+        if( user_input == 'r' || user_input == 'R' ) {
+			hal.scheduler->reboot();
+        }
     }
 }