38 lines
1.2 KiB
C#
38 lines
1.2 KiB
C#
using Plane.Protocols;
|
|
using System.Threading.Tasks;
|
|
|
|
namespace Plane.Copters
|
|
{
|
|
partial class PlaneCopter
|
|
{
|
|
/// <summary>
|
|
/// // 王海, 20160122, 不明确。目测是发送重启命令，在刷固件之前用到。
|
|
/// </summary>
|
|
/// <param name="bootloaderMode"></param>
|
|
/// <returns>表示此命令异步发送操作的 <see cref="Task"/> 实例。</returns>
|
|
public async Task RebootAsync(bool bootloaderMode = false)
|
|
{
|
|
int param1 = 1;
|
|
if (bootloaderMode)
|
|
{
|
|
param1 = 3;
|
|
}
|
|
|
|
if (MAV.sysid != 0 && MAV.compid != 0)
|
|
{
|
|
await DoCommandAsync(MAVLink.MAV_CMD.PREFLIGHT_REBOOT_SHUTDOWN, param1, 0, 0, 0, 0, 0, 0).ConfigureAwait(false);
|
|
await DoCommandAsync(MAVLink.MAV_CMD.PREFLIGHT_REBOOT_SHUTDOWN, 1, 0, 0, 0, 0, 0, 0).ConfigureAwait(false);
|
|
}
|
|
else
|
|
{
|
|
|
|
for (byte a = byte.MinValue; a < byte.MaxValue; a++)
|
|
{
|
|
MAV.sysid = a;
|
|
await DoCommandAsync(MAVLink.MAV_CMD.PREFLIGHT_REBOOT_SHUTDOWN, param1, 0, 0, 0, 0, 0, 0).ConfigureAwait(false);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|