Rover: added shell command in CLI test menu

APMrover2/test.pde

@@ -20,6 +20,9 @@ static int8_t	test_sonar(uint8_t argc, 	const Menu::arg *argv);
 static int8_t	test_mag(uint8_t argc, 			const Menu::arg *argv);
 static int8_t	test_modeswitch(uint8_t argc, 		const Menu::arg *argv);
 static int8_t	test_logging(uint8_t argc, 		const Menu::arg *argv);
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
+static int8_t   test_shell(uint8_t argc,              const Menu::arg *argv);
+#endif
 
 // Creates a constant array of structs representing menu options
 // and stores them in Flash memory, not RAM.
@@ -53,7 +56,9 @@ static const struct Menu::command test_menu_commands[] PROGMEM = {
 #elif HIL_MODE == HIL_MODE_ATTITUDE
 #endif
 	{"logging",		test_logging},
-
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
+    {"shell", 				test_shell},
+#endif
 };
 
 // A Macro to create the Menu
@@ -565,4 +570,16 @@ test_sonar(uint8_t argc, const Menu::arg *argv)
     return (0);
 }
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
+/*
+ *  run a debug shell
+ */
+static int8_t
+test_shell(uint8_t argc, const Menu::arg *argv)
+{
+    hal.util->run_debug_shell(cliSerial);
+    return 0;
+}
+#endif
+
 #endif // CLI_ENABLED