Plane: support reboot to bootloader

ArduPlane/GCS_Mavlink.pde

@@ -1235,8 +1235,9 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             break;
 
         case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
-            if (packet.param1 == 1) {
-                reboot_apm();
+            if (packet.param1 == 1 || packet.param1 == 3) {
+                // when packet.param1 == 3 we reboot to hold in bootloader
+                hal.scheduler->reboot(packet.param1 == 3);
                 result = MAV_RESULT_ACCEPTED;
             }
             break;

ArduPlane/system.pde

@@ -44,7 +44,7 @@ MENU(main_menu, THISFIRMWARE, main_menu_commands);
 
 static int8_t reboot_board(uint8_t argc, const Menu::arg *argv)
 {
-    reboot_apm();
+    hal.scheduler->reboot(false);
     return 0;
 }
 
@@ -559,16 +559,6 @@ uint16_t board_voltage(void)
 }
 
 
-/*
-  force a software reset of the APM
- */
-static void reboot_apm(void)
-{
-    hal.scheduler->reboot();
-    while (1);
-}
-
-
 static void
 print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode)
 {