From 7cb71af949a8f0d521aea00ad2472909088a5296 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Tue, 18 Apr 2017 14:09:14 +0200
Subject: [PATCH] reboot.c: switch to px4_shutdown_request()

---
 src/systemcmds/reboot/reboot.c | 14 ++++++++++++--
 1 file changed, 12 insertions(+), 2 deletions(-)

diff --git a/src/systemcmds/reboot/reboot.c b/src/systemcmds/reboot/reboot.c
index 8309d74ea4..c069b6302f 100644
--- a/src/systemcmds/reboot/reboot.c
+++ b/src/systemcmds/reboot/reboot.c
@@ -39,8 +39,8 @@
 
 #include <px4_config.h>
 #include <px4_getopt.h>
-#include <px4_tasks.h>
 #include <px4_log.h>
+#include <px4_shutdown.h>
 #include <systemlib/systemlib.h>
 
 __EXPORT int reboot_main(int argc, char *argv[]);
@@ -62,9 +62,19 @@ int reboot_main(int argc, char *argv[])
 		default:
 			PX4_ERR("usage: reboot [-b]\n"
 				"   -b   reboot into the bootloader");
+			break;
 
 		}
 	}
 
-	px4_systemreset(to_bootloader);
+	int ret = px4_shutdown_request(true, to_bootloader);
+
+	if (ret < 0) {
+		PX4_ERR("reboot failed (%i)", ret);
+		return -1;
+	}
+
+	while (1) { usleep(1); } // this command should not return on success
+
+	return 0;
 }