voxl2: add system reboot support

boards/modalai/voxl2-slpi/src/board_config.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2022 ModalAI, Inc. All rights reserved.
+ *   Copyright (c) 2022-2026 ModalAI, Inc. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -39,7 +39,7 @@
 
 #pragma once
 
-#define BOARD_HAS_NO_RESET
+#define CONFIG_BOARDCTL_RESET
 #define BOARD_HAS_NO_BOOTLOADER
 /*
  * I2C buses

boards/modalai/voxl2/default.px4board

@@ -25,5 +25,6 @@ CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_ORB_COMMUNICATOR=y
 CONFIG_PARAM_PRIMARY=y

boards/modalai/voxl2/src/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2022 ModalAI, Inc. All rights reserved.
+#   Copyright (c) 2022-2026 ModalAI, Inc. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -40,6 +40,7 @@ set(DISABLE_PARAMS_MODULE_SCOPING TRUE PARENT_SCOPE)
 add_library(drivers_board
 	board_config.h
 	init.c
+	boardctl.c
     )
 
 # Add custom drivers

boards/modalai/voxl2/src/board_config.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2022 ModalAI, Inc. All rights reserved.
+ *   Copyright (c) 2022-2026 ModalAI, Inc. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -39,7 +39,7 @@
 
 #pragma once
 
-#define BOARD_HAS_NO_RESET
+#define CONFIG_BOARDCTL_RESET
 #define BOARD_HAS_NO_BOOTLOADER
 
 // Define this as empty since there are no I2C buses

boards/modalai/voxl2/src/boardctl.c

@@ -0,0 +1,46 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025-2026 ModalAI, Inc. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <unistd.h>
+#include <stdint.h>
+#include <stdlib.h>
+
+#include "fc_sensor.h"
+
+int boardctl(unsigned int cmd, uintptr_t arg)
+{
+	fc_sensor_kill_slpi();
+	sleep(2);
+	exit(-1);
+	return 0;
+}

platforms/common/shutdown.cpp

@@ -57,9 +57,10 @@
 
 #ifdef __PX4_NUTTX
 #include <nuttx/board.h>
-#include <sys/boardctl.h>
 #endif
 
+#include <sys/boardctl.h>
+
 using namespace time_literals;
 
 static pthread_mutex_t shutdown_mutex =

platforms/posix/include/sys/boardctl.h

@@ -0,0 +1,44 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2025-2026 ModalAI, Inc. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <board_config.h>
+
+#if defined(CONFIG_BOARDCTL_RESET)
+
+#define BOARDIOC_RESET (1<<0)
+
+extern "C" __EXPORT int boardctl(unsigned int cmd, uintptr_t arg);
+
+#endif

platforms/qurt/include/sys/boardctl.h

@@ -0,0 +1,44 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2025-2026 ModalAI, Inc. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <board_config.h>
+
+#if defined(CONFIG_BOARDCTL_RESET)
+
+#define BOARDIOC_RESET (1<<0)
+
+extern "C" __EXPORT int boardctl(unsigned int cmd, uintptr_t arg);
+
+#endif

platforms/qurt/src/px4/px4_qurt_impl.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- * Copyright (C) 2022 ModalAI, Inc. All rights reserved.
+ * Copyright (C) 2022-2026 ModalAI, Inc. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -32,10 +32,18 @@
  ****************************************************************************/
 #include <px4_platform_common/defines.h>
 
+extern "C" void px4muorb_request_reset(void);
+
 __BEGIN_DECLS
 
 long PX4_TICKS_PER_SEC = 1000L;
 void fsync(int fd) { return; }
 uint32_t crc32part(const uint8_t *src, size_t len, uint32_t crc32val) { return 1; }
 
+int boardctl(unsigned int cmd, uintptr_t arg)
+{
+	px4muorb_request_reset();
+	return 0;
+}
+
 __END_DECLS

src/modules/muorb/apps/uORBAppsProtobufChannel.cpp

@@ -130,6 +130,12 @@ void uORB::AppsProtobufChannel::SubscribeCallback(const char *topic)
 		// This will happen when a newer PX4 version is talking to a
 		// SLPI image that doesn't support the CPULOAD request. If the
 		// SLPI image does support it then we wouldn't get this.
+	} else if (strcmp(topic, "RESET") == 0) {
+		PX4_ERR("Got RESET subscription, Rebooting...");
+		fc_sensor_kill_slpi();
+		sleep(2);
+		exit(-1);
+
 	} else if (_RxHandler) {
 		pthread_mutex_lock(&_rx_mutex);
 		_SlpiSubscriberCache[topic]++;

src/modules/muorb/slpi/uORBProtobufChannel.cpp

@@ -628,6 +628,15 @@ int px4muorb_send_topic_data(const char *topic_name, const uint8_t *data,
 }
 
 
+void px4muorb_request_reset(void)
+{
+	uORB::ProtobufChannel *channel = uORB::ProtobufChannel::GetInstance();
+
+	if (channel) {
+		(void) channel->add_subscription("RESET", 0);
+	}
+}
+
 float px4muorb_get_cpu_load(void)
 {
 

src/modules/muorb/slpi/uORBProtobufChannel.hpp

@@ -243,6 +243,8 @@ extern "C" {
 	int px4muorb_send_topic_data(const char *name, const uint8_t *data, int data_len_in_bytes) __EXPORT;
 
 	float px4muorb_get_cpu_load(void) __EXPORT;
+
+	void px4muorb_request_reset(void) __EXPORT;
 }
 
 #endif // _uORBProtobufChannel_hpp_