voxl2: add system reboot support

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_