Merge branch 'master' into navigator_new_vector

src/modules/px4iofirmware/dsm.c

@@ -203,6 +203,12 @@ dsm_guess_format(bool reset)
 int
 dsm_init(const char *device)
 {
+
+#ifdef CONFIG_ARCH_BOARD_PX4IO_V2
+	// enable power on DSM connector
+	POWER_SPEKTRUM(true);
+#endif
+
 	if (dsm_fd < 0)
 		dsm_fd = open(device, O_RDONLY | O_NONBLOCK);
 

src/modules/px4iofirmware/px4io.c

@@ -125,6 +125,25 @@ heartbeat_blink(void)
 	LED_BLUE(heartbeat = !heartbeat);
 }
 
+static uint64_t reboot_time;
+
+/**
+   schedule a reboot in time_delta_usec microseconds
+ */
+void schedule_reboot(uint32_t time_delta_usec)
+{
+    reboot_time = hrt_absolute_time() + time_delta_usec;
+}
+
+/**
+   check for a scheduled reboot
+ */
+static void check_reboot(void)
+{
+    if (reboot_time != 0 && hrt_absolute_time() > reboot_time) {
+        up_systemreset();
+    }
+}
 
 static void
 calculate_fw_crc(void)
@@ -249,6 +268,8 @@ user_start(int argc, char *argv[])
                     heartbeat_blink();
                 }
 
+                check_reboot();
+
 #if 0
 		/* check for debug activity */
 		show_debug_messages();

src/modules/px4iofirmware/px4io.h

@@ -220,3 +220,7 @@ extern volatile uint8_t debug_level;
 
 /** send a debug message to the console */
 extern void	isr_debug(uint8_t level, const char *fmt, ...);
+
+/** schedule a reboot */
+extern void schedule_reboot(uint32_t time_delta_usec);
+

src/modules/px4iofirmware/registers.c

@@ -516,16 +516,11 @@ 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: