From 4e427f69dba7bd84507cb55e6ddb567fbeb74039 Mon Sep 17 00:00:00 2001
From: Vladimir Zidar <vladimir@volomp.com>
Date: Tue, 6 Sep 2016 11:54:06 +0200
Subject: [PATCH] LP-401 Add sanity check for FlightModeSettings to bring up
 reboot-required alarm if flightmode has autotune, but no autotune modules
 started.

---
 flight/modules/AutoTune/autotune.c | 17 +++++++++++++++++
 1 file changed, 17 insertions(+)

diff --git a/flight/modules/AutoTune/autotune.c b/flight/modules/AutoTune/autotune.c
index df93d4a81..d3f7d0760 100644
--- a/flight/modules/AutoTune/autotune.c
+++ b/flight/modules/AutoTune/autotune.c
@@ -159,6 +159,19 @@ static void UpdateSystemIdentState(const float *X, const float *noise, float dT_
 static void UpdateStabilizationDesired(bool doingIdent);
 
 
+static void flightModeSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
+{
+    FlightModeSettingsFlightModePositionOptions fms[FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_NUMELEM];
+
+    FlightModeSettingsFlightModePositionGet(fms);
+    for (uint8_t i = 0; i < FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_NUMELEM; ++i) {
+        if (fms[i] == FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_AUTOTUNE) {
+            ExtendedAlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL, SYSTEMALARMS_EXTENDEDALARMSTATUS_REBOOTREQUIRED, 0);
+            break;
+        }
+    }
+}
+
 /**
  * Initialise the module, called on startup
  * \returns 0 on success or -1 if initialisation failed
@@ -202,6 +215,10 @@ int32_t AutoTuneInitialize(void)
         }
     }
 
+    if (!moduleEnabled) {
+        FlightModeSettingsConnectCallback(flightModeSettingsUpdatedCb);
+    }
+
     return 0;
 }