fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-26 01:03:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

px4iofirmware: make forceupdate more reliable

Browse Source 
this schedules a reboot rather than rebooting immediately, which means
the FMU gets an ACK for its reboot operation, preventing it from
timing out waiting for the ACK. That makes the timing of the reboot
more consistent, which makes it more reliable for forceupdate
This commit is contained in:
Andrew Tridgell
2014-01-07 09:30:56 +01:00
committed by Lorenz Meier
parent 76477b2057
commit 1a13e66aab
3 changed files with 29 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/px4iofirmware/registers.c
+4 -9
View File
@@ -518,16 +518,11 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
// check the magic value
if (value != PX4IO_REBOOT_BL_MAGIC)
break;
// note that we don't set BL_WAIT_MAGIC in
// BKP_DR1 as that is not necessary given the
// timing of the forceupdate command. The
// bootloader on px4io waits for enough time
// anyway, and this method works with older
// bootloader versions (tested with both
// revision 3 and revision 4).
up_systemreset();
// we schedule a reboot rather than rebooting
// immediately to allow the IO board to ACK
// the reboot command
schedule_reboot(100000);
break;
case PX4IO_P_SETUP_DSM: