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board_config: remove px4_board_pwr, use px4_shutdown_request instead

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px4_board_pwr has become obsolete with the addition of board_shutdown
This commit is contained in:
Beat Küng
2017-04-18 14:06:30 +02:00
committed by Lorenz Meier
parent 25dfa9cda6
commit 0165633bf3
6 changed files with 16 additions and 56 deletions
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src/modules/commander/commander.cpp
+10 -4
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@@ -69,6 +69,7 @@
#include <px4_defines.h>
#include <px4_config.h>
#include <px4_posix.h>
#include <px4_shutdown.h>
#include <px4_tasks.h>
#include <px4_time.h>
#include <systemlib/circuit_breaker.h>
@@ -2002,7 +2003,7 @@ int commander_thread_main(int argc, char *argv[])
*/
mavlink_log_critical(&mavlink_log_pub, "USB disconnected, rebooting.")
usleep(400000);
px4_systemreset(false);
px4_shutdown_request(true, false);
}
/* finally judge the USB connected state based on software detection */
@@ -2285,7 +2286,12 @@ int commander_thread_main(int argc, char *argv[])
if (!armed.armed) {
mavlink_log_critical(&mavlink_log_pub, "DANGEROUSLY LOW BATTERY, SHUT SYSTEM DOWN");
usleep(200000);
px4_board_pwr(false);
int ret_val = px4_shutdown_request(false, false);
if (ret_val) {
mavlink_log_critical(&mavlink_log_pub, "SYSTEM DOES NOT SUPPORT SHUTDOWN");
} else {
while(1) { usleep(1); }
}
} else {
if (low_bat_action == 2 || low_bat_action == 3) {
@@ -4049,13 +4055,13 @@ void *commander_low_prio_loop(void *arg)
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED, command_ack_pub, command_ack);
usleep(100000);
/* reboot */
px4_systemreset(false);
px4_shutdown_request(true, false);
} else if (((int)(cmd.param1)) == 3) {
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED, command_ack_pub, command_ack);
usleep(100000);
/* reboot to bootloader */
px4_systemreset(true);
px4_shutdown_request(true, true);
} else {
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_DENIED, command_ack_pub, command_ack);