From ddc1fa61855efa75f73d91e5b72a41fecc96397a Mon Sep 17 00:00:00 2001
From: Don Gagne <dongagne@outlook.com>
Date: Sat, 23 Mar 2019 09:07:43 -0700
Subject: [PATCH] ArduPilot: Flash bootloader support

---
 src/Vehicle/Vehicle.cc | 13 +++++++++++++
 src/Vehicle/Vehicle.h  |  4 ++++
 2 files changed, 17 insertions(+)

diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index 9f540b7fc..64eadc702 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -3849,6 +3849,19 @@ int  Vehicle::versionCompare(int major, int minor, int patch)
     return _firmwarePlugin->versionCompare(this, major, minor, patch);
 }
 
+#if !defined(NO_ARDUPILOT_DIALECT)
+void Vehicle::flashBootloader(void)
+{
+    sendMavCommand(defaultComponentId(),
+                   MAV_CMD_FLASH_BOOTLOADER,
+                   true,        // show error
+                   0, 0, 0, 0,  // param 1-4 not used
+                   290876);     // magic number
+
+}
+#endif
+
+
 //-----------------------------------------------------------------------------
 //-----------------------------------------------------------------------------
 
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index cba6240ea..530a4ed13 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -756,6 +756,10 @@ public:
     ///     @param percent 0-no power, 100-full power
     Q_INVOKABLE void motorTest(int motor, int percent);
 
+#if !defined(NO_ARDUPILOT_DIALECT)
+    Q_INVOKABLE void flashBootloader(void);
+#endif
+
     bool    guidedModeSupported     (void) const;
     bool    pauseVehicleSupported   (void) const;
     bool    orbitModeSupported      (void) const;
-- 
2.22.0