Copter: support reboot to bootloader

ArduCopter/GCS_Mavlink.pde

@@ -1236,8 +1236,9 @@ 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;

ArduCopter/system.pde

@@ -43,7 +43,7 @@ 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;
 }
 
@@ -626,13 +626,6 @@ uint16_t board_voltage(void)
     return board_vcc_analog_source->read_latest();
 }
 
-/*
-  force a software reset of the APM
- */
-static void reboot_apm(void) {
-    hal.scheduler->reboot();
-}
-
 //
 // print_flight_mode - prints flight mode to serial port.
 //