From d9c2a2aa45c011a83ebf86c6742e9ea19f187f57 Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Sun, 23 Aug 2015 16:03:24 -0700
Subject: [PATCH] Add resetAllParameterToDefaults api

---
 src/AutoPilotPlugins/AutoPilotPlugin.cc | 9 +++++++++
 src/AutoPilotPlugins/AutoPilotPlugin.h  | 3 +++
 2 files changed, 12 insertions(+)

diff --git a/src/AutoPilotPlugins/AutoPilotPlugin.cc b/src/AutoPilotPlugins/AutoPilotPlugin.cc
index 9973d0595..f010b1be3 100644
--- a/src/AutoPilotPlugins/AutoPilotPlugin.cc
+++ b/src/AutoPilotPlugins/AutoPilotPlugin.cc
@@ -97,6 +97,15 @@ bool AutoPilotPlugin::setupComplete(void)
 	return _setupComplete;
 }
 
+void AutoPilotPlugin::resetAllParametersToDefaults(void)
+{
+    mavlink_message_t msg;
+    MAVLinkProtocol* mavlink = MAVLinkProtocol::instance();
+
+    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, _uas->getUASID(), 0, MAV_CMD_PREFLIGHT_STORAGE, 0, 2, -1, 0, 0, 0, 0, 0);
+    _uas->sendMessage(msg);
+}
+
 void AutoPilotPlugin::refreshAllParameters(void)
 {
 	_getParameterLoader()->refreshAllParameters();
diff --git a/src/AutoPilotPlugins/AutoPilotPlugin.h b/src/AutoPilotPlugins/AutoPilotPlugin.h
index fa50da7d3..a27b2dd66 100644
--- a/src/AutoPilotPlugins/AutoPilotPlugin.h
+++ b/src/AutoPilotPlugins/AutoPilotPlugin.h
@@ -63,6 +63,9 @@ public:
 	Q_PROPERTY(bool setupComplete READ setupComplete NOTIFY setupCompleteChanged)
     
     Q_PROPERTY(bool armed READ armed NOTIFY armedChanged)
+    
+    /// Reset all parameters to their default values
+    Q_INVOKABLE void resetAllParametersToDefaults(void);
 	
     /// Re-request the full set of parameters from the autopilot
 	Q_INVOKABLE void refreshAllParameters(void);
-- 
2.22.0