From c661979473f0ab7667c300f07acb2c65e1f120fb Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Nicol=C3=B2=20Caruso?= <niccolo.caruso@skywarder.eu>
Date: Wed, 2 Oct 2024 15:17:14 +0200
Subject: [PATCH] [Fix] Reboot command was not correctly executed always.
Reboot MAV_COMMAND was only used by the state_init and not in the other cases. Now moved to Hub.cpp instead of on SMA.cpp
---
src/boards/Groundstation/Automated/Hub.cpp | 6 +++++-
src/boards/Groundstation/Automated/SMA/SMA.cpp | 5 -----
2 files changed, 5 insertions(+), 6 deletions(-)
diff --git a/src/boards/Groundstation/Automated/Hub.cpp b/src/boards/Groundstation/Automated/Hub.cpp
index 6833d510b..8ba014793 100644
--- a/src/boards/Groundstation/Automated/Hub.cpp
+++ b/src/boards/Groundstation/Automated/Hub.cpp
@@ -75,7 +75,6 @@ void Hub::dispatchOutgoingMsg(const mavlink_message_t& msg)
static const std::map<MavCommandList, Events> commandToEvent{
{MAV_CMD_FORCE_INIT, TMTC_ARP_FORCE_INIT},
{MAV_CMD_RESET_ALGORITHM, TMTC_ARP_RESET_ALGORITHM},
- {MAV_CMD_FORCE_REBOOT, TMTC_ARP_RESET_BOARD},
{MAV_CMD_ARP_FORCE_NO_FEEDBACK, TMTC_ARP_FORCE_NO_FEEDBACK},
{MAV_CMD_ARM, TMTC_ARP_ARM},
{MAV_CMD_DISARM, TMTC_ARP_DISARM},
@@ -88,6 +87,11 @@ void Hub::dispatchOutgoingMsg(const mavlink_message_t& msg)
MavCommandList commandId = static_cast<MavCommandList>(
mavlink_msg_arp_command_tc_get_command_id(&msg));
+ if (commandId == MAV_CMD_FORCE_REBOOT)
+ {
+ reboot();
+ }
+
auto it = commandToEvent.find(commandId);
if (it != commandToEvent.end())
diff --git a/src/boards/Groundstation/Automated/SMA/SMA.cpp b/src/boards/Groundstation/Automated/SMA/SMA.cpp
index c14fbf723..7ae4e1da9 100644
--- a/src/boards/Groundstation/Automated/SMA/SMA.cpp
+++ b/src/boards/Groundstation/Automated/SMA/SMA.cpp
@@ -360,11 +360,6 @@ State SMA::state_config(const Event& event)
{
return transition(&SMA::state_init);
}
- case TMTC_ARP_RESET_BOARD:
- {
- reboot();
- return HANDLED;
- }
default:
{
return UNHANDLED;
--
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