Copter: reject reboot request from GCS if auto esc cal on next reboot

this resolves an edge case in which the motors could spin up on the next reboot because the user didn't unplug the battery to reboot the flight controller

ArduCopter/Copter.h

@@ -588,6 +588,15 @@ private:
     static const AP_Param::Info var_info[];
     static const struct LogStructure log_structure[];
 
+    // enum for ESC CALIBRATION
+    enum ESCCalibrationModes : uint8_t {
+        ESCCAL_NONE = 0,
+        ESCCAL_PASSTHROUGH_IF_THROTTLE_HIGH = 1,
+        ESCCAL_PASSTHROUGH_ALWAYS = 2,
+        ESCCAL_AUTO = 3,
+        ESCCAL_DISABLED = 9,
+    };
+
     enum Failsafe_Action {
         Failsafe_Action_None           = 0,
         Failsafe_Action_Land           = 1,

ArduCopter/GCS_Mavlink.cpp

@@ -558,6 +558,18 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_do_set_roi(const Location &roi_loc
     return MAV_RESULT_ACCEPTED;
 }
 
+MAV_RESULT GCS_MAVLINK_Copter::handle_preflight_reboot(const mavlink_command_long_t &packet)
+{
+    // reject reboot if user has also specified they want the "Auto" ESC calibration on next reboot
+    if (copter.g.esc_calibrate == (uint8_t)Copter::ESCCalibrationModes::ESCCAL_AUTO) {
+        send_text(MAV_SEVERITY_CRITICAL, "Reboot rejected, ESC cal on reboot");
+        return MAV_RESULT_FAILED;
+    }
+
+    // call parent
+    return GCS_MAVLINK::handle_preflight_reboot(packet);
+}
+
 bool GCS_MAVLINK_Copter::set_home_to_current_location(bool lock) {
     return copter.set_home_to_current_location(lock);
 }

ArduCopter/GCS_Mavlink.h

@@ -29,7 +29,7 @@ protected:
     void send_position_target_local_ned() override;
 
     MAV_RESULT handle_command_do_set_roi(const Location &roi_loc) override;
-
+    MAV_RESULT handle_preflight_reboot(const mavlink_command_long_t &packet) override;
     MAV_RESULT handle_command_mount(const mavlink_command_long_t &packet) override;
     MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet) override;
     MAV_RESULT handle_command_long_packet(const mavlink_command_long_t &packet) override;

ArduCopter/esc_calibration.cpp

@@ -6,15 +6,6 @@
 
 #define ESC_CALIBRATION_HIGH_THROTTLE   950
 
-// enum for ESC CALIBRATION
-enum ESCCalibrationModes {
-    ESCCAL_NONE = 0,
-    ESCCAL_PASSTHROUGH_IF_THROTTLE_HIGH = 1,
-    ESCCAL_PASSTHROUGH_ALWAYS = 2,
-    ESCCAL_AUTO = 3,
-    ESCCAL_DISABLED = 9,
-};
-
 // check if we should enter esc calibration mode
 void Copter::esc_calibration_startup_check()
 {
@@ -34,19 +25,19 @@ void Copter::esc_calibration_startup_check()
     // exit immediately if pre-arm rc checks fail
     if (!arming.rc_calibration_checks(true)) {
         // clear esc flag for next time
-        if ((g.esc_calibrate != ESCCAL_NONE) && (g.esc_calibrate != ESCCAL_DISABLED)) {
-            g.esc_calibrate.set_and_save(ESCCAL_NONE);
+        if ((g.esc_calibrate != ESCCalibrationModes::ESCCAL_NONE) && (g.esc_calibrate != ESCCalibrationModes::ESCCAL_DISABLED)) {
+            g.esc_calibrate.set_and_save(ESCCalibrationModes::ESCCAL_NONE);
         }
         return;
     }
 
     // check ESC parameter
     switch (g.esc_calibrate) {
-        case ESCCAL_NONE:
+        case ESCCalibrationModes::ESCCAL_NONE:
             // check if throttle is high
             if (channel_throttle->get_control_in() >= ESC_CALIBRATION_HIGH_THROTTLE) {
                 // we will enter esc_calibrate mode on next reboot
-                g.esc_calibrate.set_and_save(ESCCAL_PASSTHROUGH_IF_THROTTLE_HIGH);
+                g.esc_calibrate.set_and_save(ESCCalibrationModes::ESCCAL_PASSTHROUGH_IF_THROTTLE_HIGH);
                 // send message to gcs
                 gcs().send_text(MAV_SEVERITY_CRITICAL,"ESC calibration: Restart board");
                 // turn on esc calibration notification
@@ -55,30 +46,30 @@ void Copter::esc_calibration_startup_check()
                 while(1) { hal.scheduler->delay(5); }
             }
             break;
-        case ESCCAL_PASSTHROUGH_IF_THROTTLE_HIGH:
+        case ESCCalibrationModes::ESCCAL_PASSTHROUGH_IF_THROTTLE_HIGH:
             // check if throttle is high
             if (channel_throttle->get_control_in() >= ESC_CALIBRATION_HIGH_THROTTLE) {
                 // pass through pilot throttle to escs
                 esc_calibration_passthrough();
             }
             break;
-        case ESCCAL_PASSTHROUGH_ALWAYS:
+        case ESCCalibrationModes::ESCCAL_PASSTHROUGH_ALWAYS:
             // pass through pilot throttle to escs
             esc_calibration_passthrough();
             break;
-        case ESCCAL_AUTO:
+        case ESCCalibrationModes::ESCCAL_AUTO:
             // perform automatic ESC calibration
             esc_calibration_auto();
             break;
-        case ESCCAL_DISABLED:
+        case ESCCalibrationModes::ESCCAL_DISABLED:
         default:
             // do nothing
             break;
     }
 
     // clear esc flag for next time
-    if (g.esc_calibrate != ESCCAL_DISABLED) {
-        g.esc_calibrate.set_and_save(ESCCAL_NONE);
+    if (g.esc_calibrate != ESCCalibrationModes::ESCCAL_DISABLED) {
+        g.esc_calibrate.set_and_save(ESCCalibrationModes::ESCCAL_NONE);
     }
 #endif  // FRAME_CONFIG != HELI_FRAME
 }
@@ -189,4 +180,4 @@ void Copter::esc_calibration_setup()
     motors->armed(true);
     SRV_Channels::enable_by_mask(motors->get_motor_mask());
     hal.util->set_soft_armed(true);
-}
+}