From 25435ea49cbff8ef063c4f50c4e4dc85bbe1ac29 Mon Sep 17 00:00:00 2001
From: Bruce Luckcuck <github@etracer.net>
Date: Sun, 19 May 2019 08:58:44 -0400
Subject: [PATCH] Add reboot required arming disabled flag, support for setting
 in MSP

---
 src/main/fc/config.c         | 14 ++++++++++++++
 src/main/fc/config.h         |  3 +++
 src/main/fc/runtime_config.c |  3 ++-
 src/main/fc/runtime_config.h |  3 ++-
 src/main/msp/msp.c           | 22 +++++++++++++++++-----
 5 files changed, 38 insertions(+), 7 deletions(-)

diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index b98692bcc3..6358d89f40 100644
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -41,6 +41,7 @@
 #include "fc/rc.h"
 #include "fc/rc_adjustments.h"
 #include "fc/rc_controls.h"
+#include "fc/runtime_config.h"
 
 #include "flight/failsafe.h"
 #include "flight/imu.h"
@@ -72,6 +73,8 @@
 
 static bool configIsDirty; /* someone indicated that the config is modified and it is not yet saved */
 
+static bool rebootRequired = false;  // set if a config change requires a reboot to take effect
+
 pidProfile_t *currentPidProfile;
 
 #ifndef RX_SPI_DEFAULT_PROTOCOL
@@ -742,3 +745,14 @@ bool isSystemConfigured(void)
     return true;
 #endif
 }
+
+void setRebootRequired(void)
+{
+    rebootRequired = true;
+    setArmingDisabled(ARMING_DISABLED_REBOOT_REQUIRED);
+}
+
+bool getRebootRequired(void)
+{
+    return rebootRequired;
+}
diff --git a/src/main/fc/config.h b/src/main/fc/config.h
index e692a22ec6..4ca1b9fa98 100644
--- a/src/main/fc/config.h
+++ b/src/main/fc/config.h
@@ -55,6 +55,7 @@ PG_DECLARE(systemConfig_t, systemConfig);
 struct pidProfile_s;
 extern struct pidProfile_s *currentPidProfile;
 
+
 void initEEPROM(void);
 void resetEEPROM(void);
 bool readEEPROM(void);
@@ -86,3 +87,5 @@ void targetConfiguration(void);
 void targetValidateConfiguration(void);
 
 bool isSystemConfigured(void);
+void setRebootRequired(void);
+bool getRebootRequired(void);
diff --git a/src/main/fc/runtime_config.c b/src/main/fc/runtime_config.c
index b878d7c935..3ed02e8847 100644
--- a/src/main/fc/runtime_config.c
+++ b/src/main/fc/runtime_config.c
@@ -53,8 +53,9 @@ const char *armingDisableFlagNames[]= {
     "MSP",
     "PARALYZE",
     "GPS",
-    "RESCUE SW",
+    "RESCUE_SW",
     "RPMFILTER",
+    "REBOOT_REQD",
     "ARMSWITCH",
 };
 
diff --git a/src/main/fc/runtime_config.h b/src/main/fc/runtime_config.h
index 3017afb0cf..365b35dbe8 100644
--- a/src/main/fc/runtime_config.h
+++ b/src/main/fc/runtime_config.h
@@ -61,7 +61,8 @@ typedef enum {
     ARMING_DISABLED_GPS             = (1 << 18),
     ARMING_DISABLED_RESC            = (1 << 19),
     ARMING_DISABLED_RPMFILTER       = (1 << 20),
-    ARMING_DISABLED_ARM_SWITCH      = (1 << 21), // Needs to be the last element, since it's always activated if one of the others is active when arming
+    ARMING_DISABLED_REBOOT_REQUIRED = (1 << 21),
+    ARMING_DISABLED_ARM_SWITCH      = (1 << 22), // Needs to be the last element, since it's always activated if one of the others is active when arming
 } armingDisableFlags_e;
 
 #define ARMING_DISABLE_FLAGS_COUNT (LOG2(ARMING_DISABLED_ARM_SWITCH) + 1)
diff --git a/src/main/msp/msp.c b/src/main/msp/msp.c
index 25e7db5ac4..c0b5c349f2 100644
--- a/src/main/msp/msp.c
+++ b/src/main/msp/msp.c
@@ -241,6 +241,14 @@ static void mspFc4waySerialCommand(sbuf_t *dst, sbuf_t *src, mspPostProcessFnPtr
 }
 #endif //USE_SERIAL_4WAY_BLHELI_INTERFACE
 
+static void configRebootUpdateCheckU8(uint8_t *parm, uint8_t value)
+{
+    if (*parm != value) {
+        setRebootRequired();
+    }
+    *parm = value;
+}
+
 static void mspRebootFn(serialPort_t *serialPort)
 {
     UNUSED(serialPort);
@@ -860,6 +868,10 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
             // 4 bytes, flags
             const uint32_t armingDisableFlags = getArmingDisableFlags();
             sbufWriteU32(dst, armingDisableFlags);
+
+            // config state flags - bits to indicate the state of the configuration, reboot required, etc.
+            // other flags can be added as needed
+            sbufWriteU8(dst, (getRebootRequired() << 0));
         }
         break;
 
@@ -2431,11 +2443,11 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
             // Added in MSP API 1.40
             rxConfigMutable()->rcInterpolationChannels = sbufReadU8(src);
 #if defined(USE_RC_SMOOTHING_FILTER)
-            rxConfigMutable()->rc_smoothing_type = sbufReadU8(src);
-            rxConfigMutable()->rc_smoothing_input_cutoff = sbufReadU8(src);
-            rxConfigMutable()->rc_smoothing_derivative_cutoff = sbufReadU8(src);
-            rxConfigMutable()->rc_smoothing_input_type = sbufReadU8(src);
-            rxConfigMutable()->rc_smoothing_derivative_type = sbufReadU8(src);
+            configRebootUpdateCheckU8(&rxConfigMutable()->rc_smoothing_type, sbufReadU8(src));
+            configRebootUpdateCheckU8(&rxConfigMutable()->rc_smoothing_input_cutoff, sbufReadU8(src));
+            configRebootUpdateCheckU8(&rxConfigMutable()->rc_smoothing_derivative_cutoff, sbufReadU8(src));
+            configRebootUpdateCheckU8(&rxConfigMutable()->rc_smoothing_input_type, sbufReadU8(src));
+            configRebootUpdateCheckU8(&rxConfigMutable()->rc_smoothing_derivative_type, sbufReadU8(src));
 #else
             sbufReadU8(src);
             sbufReadU8(src);