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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Pavel Kirienko
31 lines
1.4 KiB
Plaintext
31 lines
1.4 KiB
Plaintext
#
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# This service initiates firmware update on a remote node.
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#
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# The node that is being updated (slave) will retrieve the firmware image file 'image_file_remote_path' from the node
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# 'source_node_id' using the file read service, then it will update the firmware and reboot. Alternatively, this
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# service can be used to invoke an alternative CAN bootloader (e.g. STM32 system memory bootloader), in which case
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# the field 'image_file_remote_path' must be empty.
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#
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# The slave can explicitly reject this request if it is not possible to update the firmware at the moment
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# (e.g. if the node is busy).
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#
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# If the slave node accepts this request, the initiator will get a response immediately, before the update process
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# actually begins.
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#
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# While the firmware is being updated, the slave should set its status code (uavcan.protocol.NodeStatus.status_code)
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# to STATUS_INITIALIZING.
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#
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uint8 source_node_id # If there is an invalid value (e.g. zero), the caller Node ID will be used instead
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Path image_file_remote_path # Empty to invoke an alternative bootloader
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---
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uint8 ERROR_OK = 0
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uint8 ERROR_INVALID_MODE = 1 # Cannot perform the update right now (e.g. the vehicle is operating)
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uint8 ERROR_IN_PROGRESS = 2 # Firmware update is already in progess, and the slave doesn't want to restart
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uint8 ERROR_UNKNOWN = 255
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uint8 error
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uint8[<128] optional_error_message # Detailed error description
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