Payload is configuring a few streams/parameters.
In case of a preflight reboot, HEARTBEAT.system_status is supposed to be able to indicate 0=unintialized, 1=booting, 2=calibrating …according to
https://mavlink.io/en/messages/common.html#MAV_STATE
SITL proves that this is not the case, except for a short jump to 4 - it is hard to determine that the system is rebooted.
Please help me find a way that payload computer can detect that the ArduPlane/Copter rebooted,
there is a hack I used once.
use an unused channel as a register and store a number. whenever this number is reset then the board has rebooted.
Thank you, it sounds like a nice workaround.
Did you use RC_CHANNELS_OVERRIDE message to set a channel ?
Several packets (RC_CHANNELS_SCALED, SYSTEM_TIME, LOCAL_POSITION_NED and a few others I think) have a time_boot_ms field - the number of milliseconds since boot.
If you see this number reset (or ever go down in value), then the vehicle has rebooted.
If your autopilot supports Lua scripting, you could create a one line script like:
gcs:send_text(4, ‘Reboot Detected')
That would send a single MAVLink text message on the telemetry port(s) on any boot cycle and then exit.
Although I think Stephen’s time based solution above is probably a bit cleaner.
Thank you! - lots of good suggestions here, time_boot_ms is really simple in terms of code lines needed.
or MAV_CMD_DO_SET_SERVO
I liked other solutions especially the time_boot_ms which is straight forward.