commander: reboot/shutdown usability fixes

- always check with state machine before reboot/shutdown - respect BOARD_HAS_POWER_CONTROL (shutdown from command, low battery, power button) - px4_shutdown_request add optional delay and always execute from HPWORK - px4_shutdown_request split out px4_reboot_request
2026-05-21 01:12:11 +00:00 · 2020-05-04 12:33:31 -04:00
parent 45ebbb895a
commit 746a8f5cf9
96 changed files with 332 additions and 528 deletions
--- a/boards/aerotenna/ocpoc/default.cmake
+++ b/boards/aerotenna/ocpoc/default.cmake
@@ -74,7 +74,6 @@ px4_add_board(
 		param
 		perf
 		pwm
-		reboot
 		sd_bench
 		shutdown
 		tests # tests and test runner
--- a/boards/aerotenna/ocpoc/src/board_config.h
+++ b/boards/aerotenna/ocpoc/src/board_config.h
@@ -44,9 +44,6 @@

 #define BOARD_BATTERY1_V_DIV   (10.177939394f)

-#define BOARD_HAS_NO_RESET
-#define BOARD_HAS_NO_BOOTLOADER
-
 #define BOARD_MAX_LEDS 1 // Number of external LED's this board has

 #define PX4_NUMBER_I2C_BUSES   4
--- a/boards/airmind/mindpx-v2/default.cmake
+++ b/boards/airmind/mindpx-v2/default.cmake
@@ -99,7 +99,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		shutdown
 		tests # tests and test runner
 		top
 		topic_listener
--- a/boards/airmind/mindpx-v2/src/init.c
+++ b/boards/airmind/mindpx-v2/src/init.c
@@ -93,9 +93,6 @@ extern void led_on(int led);
 extern void led_off(int led);
 __END_DECLS

-/****************************************************************************
- * Protected Functions
- ****************************************************************************/
 /************************************************************************************
 * Name: board_on_reset
 *
--- a/boards/atlflight/eagle/default.cmake
+++ b/boards/atlflight/eagle/default.cmake
@@ -101,7 +101,6 @@ px4_add_board(
 		param
 		perf
 		pwm
-		reboot
 		sd_bench
 		shutdown
 		#tests # tests and test runner
--- a/boards/atlflight/eagle/src/board_config.h
+++ b/boards/atlflight/eagle/src/board_config.h
@@ -42,9 +42,6 @@
 #define BOARD_OVERRIDE_UUID "EAGLEID000000000" // must be of length 16
 #define PX4_SOC_ARCH_ID     PX4_SOC_ARCH_ID_EAGLE

-#define BOARD_HAS_NO_RESET
-#define BOARD_HAS_NO_BOOTLOADER
-
 /*
 * I2C busses
 */
--- a/boards/atlflight/excelsior/default.cmake
+++ b/boards/atlflight/excelsior/default.cmake
@@ -100,7 +100,6 @@ px4_add_board(
 		param
 		perf
 		pwm
-		reboot
 		sd_bench
 		shutdown
 		#tests # tests and test runner
--- a/boards/atlflight/excelsior/src/board_config.h
+++ b/boards/atlflight/excelsior/src/board_config.h
@@ -42,9 +42,6 @@
 #define BOARD_OVERRIDE_UUID "EAGLEID000000000" // must be of length 16
 #define PX4_SOC_ARCH_ID     PX4_SOC_ARCH_ID_EAGLE

-#define BOARD_HAS_NO_RESET
-#define BOARD_HAS_NO_BOOTLOADER
-
 /*
 * I2C busses
 */
--- a/boards/av/x-v1/default.cmake
+++ b/boards/av/x-v1/default.cmake
@@ -98,7 +98,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		shutdown
 		tests # tests and test runner
 		top
 		topic_listener
--- a/boards/beaglebone/blue/default.cmake
+++ b/boards/beaglebone/blue/default.cmake
@@ -70,7 +70,6 @@ px4_add_board(
 		param
 		perf
 		pwm
-		reboot
 		sd_bench
 		shutdown
 		tests # tests and test runner
--- a/boards/beaglebone/blue/src/board_config.h
+++ b/boards/beaglebone/blue/src/board_config.h
@@ -44,8 +44,6 @@

 #define BOARD_BATTERY1_V_DIV   (11.0f)

-#define BOARD_HAS_NO_BOOTLOADER
-
 #define BOARD_MAX_LEDS 4 // Number external of LED's this board has


--- a/boards/bitcraze/crazyflie/default.cmake
+++ b/boards/bitcraze/crazyflie/default.cmake
@@ -53,7 +53,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		shutdown
 		top
 		topic_listener
 		tune_control
--- a/boards/cuav/x7pro/default.cmake
+++ b/boards/cuav/x7pro/default.cmake
@@ -103,7 +103,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		shutdown
 		tests # tests and test runner
 		top
 		topic_listener
--- a/boards/cuav/x7pro/src/bootloader_main.c
+++ b/boards/cuav/x7pro/src/bootloader_main.c
@@ -49,6 +49,8 @@

 extern int sercon_main(int c, char **argv);

+__EXPORT void board_on_reset(int status) {}
+
 __EXPORT void stm32_boardinitialize(void)
 {
 	/* configure USB interfaces */
--- a/boards/emlid/navio2/default.cmake
+++ b/boards/emlid/navio2/default.cmake
@@ -70,7 +70,6 @@ px4_add_board(
 		param
 		perf
 		pwm
-		reboot
 		sd_bench
 		shutdown
 		tests # tests and test runner
--- a/boards/emlid/navio2/src/board_config.h
+++ b/boards/emlid/navio2/src/board_config.h
@@ -45,9 +45,6 @@
 #define BOARD_BATTERY1_V_DIV   (10.177939394f)
 #define BOARD_BATTERY1_A_PER_V (15.391030303f)

-#define BOARD_HAS_NO_RESET
-#define BOARD_HAS_NO_BOOTLOADER
-
 #define BOARD_MAX_LEDS 1 // Number of external LED's this board has


--- a/boards/holybro/durandal-v1/default.cmake
+++ b/boards/holybro/durandal-v1/default.cmake
@@ -103,7 +103,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		shutdown
 		tests # tests and test runner
 		top
 		topic_listener
--- a/boards/holybro/durandal-v1/nuttx-config/bootloader/defconfig
+++ b/boards/holybro/durandal-v1/nuttx-config/bootloader/defconfig
@@ -60,7 +60,6 @@ CONFIG_MM_REGIONS=3
 CONFIG_NFILE_DESCRIPTORS=5
 CONFIG_NFILE_STREAMS=3
 CONFIG_NPTHREAD_KEYS=4
-
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PREALLOC_WDOGS=50
 CONFIG_PTHREAD_STACK_MIN=512
@@ -92,7 +91,6 @@ CONFIG_TIME_EXTENDED=y
 CONFIG_TTY_SIGINT=y
 CONFIG_TTY_SIGINT_CHAR=0x03
 CONFIG_TTY_SIGSTP=y
-CONFIG_USART3_DMA=y
 CONFIG_USART3_RXBUFSIZE=600
 CONFIG_USART3_TXBUFSIZE=300
 CONFIG_USBDEV=y
--- a/boards/holybro/durandal-v1/src/bootloader_main.c
+++ b/boards/holybro/durandal-v1/src/bootloader_main.c
@@ -34,22 +34,12 @@
 /**
 * @file bootloader_main.c
 *
- * PX4FMU-specific early startup code for bootloader
+ * FMU-specific early startup code for bootloader
 */

-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
 #include "board_config.h"
 #include "bl.h"

-#include <stdbool.h>
-#include <stdio.h>
-#include <string.h>
-#include <debug.h>
-#include <errno.h>
-
 #include <nuttx/config.h>
 #include <nuttx/board.h>
 #include <chip.h>
@@ -59,14 +49,11 @@

 extern int sercon_main(int c, char **argv);

-/****************************************************************************
- * Pre-Processor Definitions
- ****************************************************************************/
-__EXPORT void
-stm32_boardinitialize(void)
+__EXPORT void board_on_reset(int status) {}
+
+__EXPORT void stm32_boardinitialize(void)
 {
 	/* configure USB interfaces */
-
 	stm32_usbinitialize();
 }

--- a/boards/holybro/durandal-v1/stackcheck.cmake
+++ b/boards/holybro/durandal-v1/stackcheck.cmake
@@ -104,7 +104,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		shutdown
 		tests # tests and test runner
 		top
 		topic_listener
--- a/boards/holybro/kakutef7/default.cmake
+++ b/boards/holybro/kakutef7/default.cmake
@@ -67,7 +67,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		shutdown
 		top
 		topic_listener
 		tune_control
--- a/boards/intel/aerofc-v1/default.cmake
+++ b/boards/intel/aerofc-v1/default.cmake
@@ -79,7 +79,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		shutdown
 		#tests # tests and test runner
 		top
 		#topic_listener
--- a/boards/intel/aerofc-v1/rtps.cmake
+++ b/boards/intel/aerofc-v1/rtps.cmake
@@ -79,7 +79,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		shutdown
 		#tests # tests and test runner
 		top
 		#topic_listener
--- a/boards/modalai/fc-v1/default.cmake
+++ b/boards/modalai/fc-v1/default.cmake
@@ -97,7 +97,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		shutdown
 		tests # tests and test runner
 		top
 		topic_listener
--- a/boards/mro/ctrl-zero-f7/default.cmake
+++ b/boards/mro/ctrl-zero-f7/default.cmake
@@ -103,7 +103,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		shutdown
 		tests # tests and test runner
 		top
 		topic_listener
--- a/boards/mro/x21-777/default.cmake
+++ b/boards/mro/x21-777/default.cmake
@@ -98,7 +98,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		shutdown
 		tests # tests and test runner
 		top
 		topic_listener
--- a/boards/mro/x21/default.cmake
+++ b/boards/mro/x21/default.cmake
@@ -101,7 +101,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		shutdown
 		tests # tests and test runner
 		top
 		topic_listener
--- a/boards/nxp/fmuk66-v3/default.cmake
+++ b/boards/nxp/fmuk66-v3/default.cmake
@@ -98,7 +98,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		shutdown
 		tests # tests and test runner
 		top
 		topic_listener
--- a/boards/nxp/fmuk66-v3/socketcan.cmake
+++ b/boards/nxp/fmuk66-v3/socketcan.cmake
@@ -98,7 +98,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		shutdown
 		tests # tests and test runner
 		top
 		topic_listener
--- a/boards/nxp/fmurt1062-v1/default.cmake
+++ b/boards/nxp/fmurt1062-v1/default.cmake
@@ -91,7 +91,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		shutdown
 		top
 		topic_listener
 		tune_control
--- a/boards/nxp/rddrone-uavcan146/default.cmake
+++ b/boards/nxp/rddrone-uavcan146/default.cmake
@@ -66,7 +66,6 @@ px4_add_board(
 		reboot
 		#reflect
 		#sd_bench
-		shutdown
 		top
 		#topic_listener
 		#tune_control
--- a/boards/omnibus/f4sd/default.cmake
+++ b/boards/omnibus/f4sd/default.cmake
@@ -87,7 +87,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		shutdown
 		#tests # tests and test runner
 		top
 		#topic_listener
--- a/boards/px4/fmu-v3/default.cmake
+++ b/boards/px4/fmu-v3/default.cmake
@@ -111,7 +111,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		shutdown
 		tests # tests and test runner
 		top
 		topic_listener
--- a/boards/px4/fmu-v3/rtps.cmake
+++ b/boards/px4/fmu-v3/rtps.cmake
@@ -110,7 +110,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		shutdown
 		tests # tests and test runner
 		top
 		topic_listener
--- a/boards/px4/fmu-v3/stackcheck.cmake
+++ b/boards/px4/fmu-v3/stackcheck.cmake
@@ -105,7 +105,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		shutdown
 		tests # tests and test runner
 		top
 		topic_listener
--- a/boards/px4/fmu-v4/default.cmake
+++ b/boards/px4/fmu-v4/default.cmake
@@ -105,7 +105,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		shutdown
 		tests # tests and test runner
 		top
 		topic_listener
--- a/boards/px4/fmu-v4/optimized.cmake
+++ b/boards/px4/fmu-v4/optimized.cmake
@@ -104,7 +104,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		shutdown
 		tests # tests and test runner
 		top
 		topic_listener
--- a/boards/px4/fmu-v4/rtps.cmake
+++ b/boards/px4/fmu-v4/rtps.cmake
@@ -104,7 +104,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		shutdown
 		tests # tests and test runner
 		top
 		topic_listener
--- a/boards/px4/fmu-v4/stackcheck.cmake
+++ b/boards/px4/fmu-v4/stackcheck.cmake
@@ -104,7 +104,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		shutdown
 		tests # tests and test runner
 		top
 		topic_listener
--- a/boards/px4/fmu-v4pro/default.cmake
+++ b/boards/px4/fmu-v4pro/default.cmake
@@ -105,7 +105,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		shutdown
 		tests # tests and test runner
 		top
 		topic_listener
--- a/boards/px4/fmu-v4pro/rtps.cmake
+++ b/boards/px4/fmu-v4pro/rtps.cmake
@@ -104,7 +104,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		shutdown
 		tests # tests and test runner
 		top
 		topic_listener
--- a/boards/px4/fmu-v5/critmonitor.cmake
+++ b/boards/px4/fmu-v5/critmonitor.cmake
@@ -107,7 +107,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		shutdown
 		tests # tests and test runner
 		top
 		topic_listener
--- a/boards/px4/fmu-v5/default.cmake
+++ b/boards/px4/fmu-v5/default.cmake
@@ -109,7 +109,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		shutdown
 		tests # tests and test runner
 		top
 		topic_listener
--- a/boards/px4/fmu-v5/fixedwing.cmake
+++ b/boards/px4/fmu-v5/fixedwing.cmake
@@ -82,7 +82,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		shutdown
 		top
 		topic_listener
 		tune_control
--- a/boards/px4/fmu-v5/irqmonitor.cmake
+++ b/boards/px4/fmu-v5/irqmonitor.cmake
@@ -108,7 +108,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		shutdown
 		tests # tests and test runner
 		top
 		topic_listener
--- a/boards/px4/fmu-v5/multicopter.cmake
+++ b/boards/px4/fmu-v5/multicopter.cmake
@@ -93,7 +93,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		shutdown
 		top
 		topic_listener
 		tune_control
--- a/boards/px4/fmu-v5/optimized.cmake
+++ b/boards/px4/fmu-v5/optimized.cmake
@@ -103,7 +103,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		shutdown
 		tests # tests and test runner
 		top
 		topic_listener
--- a/boards/px4/fmu-v5/rover.cmake
+++ b/boards/px4/fmu-v5/rover.cmake
@@ -82,7 +82,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		shutdown
 		top
 		topic_listener
 		tune_control
--- a/boards/px4/fmu-v5/rtps.cmake
+++ b/boards/px4/fmu-v5/rtps.cmake
@@ -108,7 +108,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		shutdown
 		tests # tests and test runner
 		top
 		topic_listener
--- a/boards/px4/fmu-v5/stackcheck.cmake
+++ b/boards/px4/fmu-v5/stackcheck.cmake
@@ -109,7 +109,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		shutdown
 		tests # tests and test runner
 		top
 		topic_listener
--- a/boards/px4/fmu-v5x/default.cmake
+++ b/boards/px4/fmu-v5x/default.cmake
@@ -107,7 +107,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		shutdown
 		tests # tests and test runner
 		top
 		topic_listener
--- a/boards/px4/fmu-v5x/p2_base_phy_LAN8742Ai.cmake
+++ b/boards/px4/fmu-v5x/p2_base_phy_LAN8742Ai.cmake
@@ -106,7 +106,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		shutdown
 		tests # tests and test runner
 		top
 		topic_listener
--- a/boards/px4/raspberrypi/default.cmake
+++ b/boards/px4/raspberrypi/default.cmake
@@ -69,7 +69,6 @@ px4_add_board(
 		param
 		perf
 		pwm
-		reboot
 		sd_bench
 		shutdown
 		tests # tests and test runner
--- a/boards/px4/raspberrypi/src/board_config.h
+++ b/boards/px4/raspberrypi/src/board_config.h
@@ -42,9 +42,6 @@
 #define BOARD_OVERRIDE_UUID "RPIID00000000000" // must be of length 16
 #define PX4_SOC_ARCH_ID     PX4_SOC_ARCH_ID_RPI

-#define BOARD_HAS_NO_RESET
-#define BOARD_HAS_NO_BOOTLOADER
-
 /*
 * I2C busses
 */
--- a/boards/px4/sitl/default.cmake
+++ b/boards/px4/sitl/default.cmake
@@ -65,7 +65,6 @@ px4_add_board(
 		param
 		perf
 		pwm
-		reboot
 		sd_bench
 		shutdown
 		tests # tests and test runner
--- a/boards/px4/sitl/nolockstep.cmake
+++ b/boards/px4/sitl/nolockstep.cmake
@@ -65,7 +65,6 @@ px4_add_board(
 		param
 		perf
 		pwm
-		reboot
 		sd_bench
 		shutdown
 		tests # tests and test runner
--- a/boards/px4/sitl/replay.cmake
+++ b/boards/px4/sitl/replay.cmake
@@ -11,7 +11,6 @@ px4_add_board(
 	SYSTEMCMDS
 		param
 		perf
-		reboot
 		shutdown
 		topic_listener
 		ver
--- a/boards/px4/sitl/rtps.cmake
+++ b/boards/px4/sitl/rtps.cmake
@@ -64,7 +64,6 @@ px4_add_board(
 		param
 		perf
 		pwm
-		reboot
 		sd_bench
 		shutdown
 		tests # tests and test runner
--- a/boards/px4/sitl/src/CMakeLists.txt
+++ b/boards/px4/sitl/src/CMakeLists.txt
@@ -32,9 +32,8 @@
 ############################################################################

 add_library(drivers_board
+	board_shutdown.cpp
 	i2c.cpp
 	sitl_led.c
-	sitl_board_shutdown.c
 	spi.cpp
 )
-
--- a/boards/px4/sitl/src/board_config.h
+++ b/boards/px4/sitl/src/board_config.h
@@ -44,8 +44,9 @@

 #define BOARD_BATTERY1_V_DIV   (10.177939394f)
 #define BOARD_BATTERY1_A_PER_V (15.391030303f)
-#define BOARD_HAS_POWER_CONTROL
-#define BOARD_HAS_NO_BOOTLOADER
+
+#define BOARD_HAS_POWER_CONTROL 1
+#define CONFIG_BOARDCTL_POWEROFF 1

 #define PX4_NUMBER_I2C_BUSES 1

--- a/boards/px4/sitl/src/sitl_board_shutdown.c
+++ b/boards/px4/sitl/src/sitl_board_shutdown.c
@@ -32,21 +32,28 @@
 ****************************************************************************/

 /**
- * @file sitl_board_shutdown.c
+ * @file board_shutdown.cpp
 *
 * sitl board shutdown backend.
 */

 #include <px4_platform_common/tasks.h>
 #include <board_config.h>
+#include <stdio.h>

+#if defined(BOARD_HAS_POWER_CONTROL)
 int board_register_power_state_notification_cb(power_button_state_notification_t cb)
 {
 	return 0;
 }
+#endif // BOARD_HAS_POWER_CONTROL

-int board_shutdown()
+#if defined(CONFIG_BOARDCTL_POWEROFF)
+int board_power_off(int status)
 {
-	px4_systemreset(false);
+	printf("Exiting NOW.\n");
+	fflush(stdout);
+	system_exit(0);
 	return 0;
 }
+#endif // CONFIG_BOARDCTL_POWEROFF
--- a/boards/px4/sitl/test.cmake
+++ b/boards/px4/sitl/test.cmake
@@ -62,7 +62,6 @@ px4_add_board(
 		param
 		perf
 		pwm
-		reboot
 		sd_bench
 		shutdown
 		tests # tests and test runner
--- a/boards/uvify/core/default.cmake
+++ b/boards/uvify/core/default.cmake
@@ -81,7 +81,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		shutdown
 		top
 		topic_listener
 		tune_control
--- a/platforms/common/apps.cpp.in
+++ b/platforms/common/apps.cpp.in
@@ -42,7 +42,7 @@ void list_builtins(apps_map_type &apps)

 int shutdown_main(int argc, char *argv[])
 {
-	printf("Shutting down\n");
+	printf("Exiting NOW.\n");
 	system_exit(0);
 }

--- a/platforms/common/include/px4_platform_common/board_common.h
+++ b/platforms/common/include/px4_platform_common/board_common.h
@@ -297,17 +297,7 @@
 * Public Data
 ************************************************************************************/

-/* board reset control */
-
-typedef enum board_reset_e {
-	board_reset_normal           = 0,  /* Perform a normal reset */
-	board_reset_extended         = 1,  /* Perform an extend reset as defined by board */
-	board_reset_power_off        = 2,  /* Reset to the boot loader, signaling a power off */
-	board_reset_enter_bootloader = 3   /* Perform a reset to the boot loader */
-} board_reset_e;
-
 /* board power button state notification */
-
 typedef enum board_power_button_state_notification_e {
 	PWR_BUTTON_IDEL,                       /* Button went up without meeting shutdown button down time */
 	PWR_BUTTON_DOWN,                       /* Button went Down */
@@ -321,7 +311,6 @@ typedef enum board_power_button_state_notification_e {
 } board_power_button_state_notification_e;

 /* board call back signature  */
-
 typedef int (*power_button_state_notification_t)(board_power_button_state_notification_e request);

 /*  PX4_SOC_ARCH_ID is monotonic ordinal number assigned by PX4 to a chip
@@ -416,10 +405,6 @@ typedef uint8_t mfguid_t[PX4_CPU_MFGUID_BYTE_LENGTH];
 */
 typedef uint8_t px4_guid_t[PX4_GUID_BYTE_LENGTH];

-/************************************************************************************
- * Private Functions
- ************************************************************************************/
-
 /************************************************************************************
 * Public Functions
 ************************************************************************************/
@@ -526,7 +511,7 @@ int board_read_VBUS_state(void);
 * Name: board_on_reset
 *
 * Description:
- * Optionally provided function called on entry to board_system_reset
+ * Optionally provided function called on entry to board_reset
 * It should perform any house keeping prior to the rest.
 * For example setting PWM outputs to the off state to avoid
 * triggering a motor spin.
@@ -547,58 +532,55 @@ int board_read_VBUS_state(void);
 *
 ************************************************************************************/

-#if defined(BOARD_HAS_NO_RESET) || !defined(BOARD_HAS_ON_RESET)
-#  define board_on_reset(status)
-#else
+#if defined(BOARD_HAS_ON_RESET)
 __EXPORT void board_on_reset(int status);
+#endif // BOARD_HAS_ON_RESET
+
+/****************************************************************************
+ * Name: board_power_off
+ *
+ * Description:
+ *   Power off the board.  This function may or may not be supported by a
+ *   particular board architecture.
+ *
+ * Input Parameters:
+ *   status - Status information provided with the reset event.  This
+ *     meaning of this status information is board-specific.  If not used by
+ *     a board, the value zero may be provided in calls to board_power_off.
+ *
+ * Returned Value:
+ *   If this function returns, then it was not possible to power-off the
+ *   board due to some constraints.  The return value int this case is a
+ *   board-specific reason for the failure to shutdown.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_BOARDCTL_POWEROFF
+int board_power_off(int status);
 #endif

-/************************************************************************************
+/****************************************************************************
 * Name: board_reset
 *
 * Description:
- *   All boards my optionally provide this API to reset the board
+ *   Reset board.  Support for this function is required by board-level
+ *   logic if CONFIG_BOARDCTL_RESET is selected.
 *
 * Input Parameters:
- *  status - 1 Resetting to boot loader
- *           0 Just resetting CPU
+ *   status - Status information provided with the reset event.  This
+ *            meaning of this status information is board-specific.  If not
+ *            used by a board, the value zero may be provided in calls to
+ *            board_reset().
 *
 * Returned Value:
- *   If function is supported by board it will not return.
- *   If not supported it is a noop.
+ *   If this function returns, then it was not possible to power-off the
+ *   board due to some constraints.  The return value int this case is a
+ *   board-specific reason for the failure to shutdown.
 *
- ************************************************************************************/
-#if defined(BOARD_HAS_NO_RESET)
-#  define board_system_reset(status)
-#else
-__EXPORT void board_system_reset(int status) noreturn_function;
-#endif
+ ****************************************************************************/

-/************************************************************************************
- * Name: board_set_bootload_mode
- *
- * Description:
- *   All boards my optionally provide this API to enter configure the entry to
- *   boot loader mode on the next system reset.
- *
- * Input Parameters:
- *   mode -  is an board_reset_e that controls the type of reset.
- *           board_reset_normal  Perform a normal reset
- *           board_reset_extended Perform an extend reset as defined by board
- *           board_reset_power_off Reset to the boot loader, signaling a power off
- *           board_reset_enter_bootloader  Perform a reset to the boot loader
- *
- *
- * Returned Value:
- *   Zero (OK) is returned on success; a negated EINVAL value is returned if an
- *             invalid mode is requested.
- *
- ************************************************************************************/
-
-#if defined(BOARD_HAS_NO_BOOTLOADER)
-#  define board_set_bootload_mode(mode)
-#else
-__EXPORT int board_set_bootload_mode(board_reset_e mode);
+#ifdef CONFIG_BOARDCTL_RESET
+int board_reset(int status);
 #endif

 /************************************************************************************
@@ -980,23 +962,6 @@ __EXPORT int board_mcu_version(char *rev, const char **revstr, const char **erra

 int board_register_power_state_notification_cb(power_button_state_notification_t cb);

-/************************************************************************************
- * Name: board_shutdown
- *
- * Description:
- *   boards may provide a function to power off the board.
- *
- * Input Parameters:
- *   None.
- * Returned Value:
- *    - If supported the function will not return.
- *      OK, or -EINVAL if unsupported.
- */
-int board_shutdown(void);
-
-#else
-static inline int board_register_power_state_notification_cb(power_button_state_notification_t cb) { return 0; }
-static inline int board_shutdown(void) { return -EINVAL; }
 #endif

 /************************************************************************************
--- a/platforms/common/include/px4_platform_common/shutdown.h
+++ b/platforms/common/include/px4_platform_common/shutdown.h
@@ -38,7 +38,10 @@

 #pragma once

+#include <px4_platform_common/px4_config.h>
+
 #include <stdbool.h>
+#include <inttypes.h>

 __BEGIN_DECLS

@@ -69,17 +72,34 @@ __EXPORT int px4_unregister_shutdown_hook(shutdown_hook_t hook);


 /**
- * Request the system to shut down or reboot.
+ * Request the system to reboot.
 * Note the following:
- * - The system might not support to shutdown (or reboot). In that case -EINVAL will
+ * - The system might not support reboot. In that case -EINVAL will
 *   be returned.
 * - The system might not shutdown immediately, so expect this method to return even
 *   on success.
- * @param reboot perform a reboot instead of a shutdown
 * @param to_bootloader reboot into bootloader mode (only used if reboot is true)
+ * @param delay_us optional delay in microseconds
 * @return 0 on success, <0 on error
 */
-__EXPORT int px4_shutdown_request(bool reboot, bool to_bootloader);
+#if defined(CONFIG_BOARDCTL_RESET)
+__EXPORT int px4_reboot_request(bool to_bootloader = false, uint32_t delay_us = 0);
+#endif // CONFIG_BOARDCTL_RESET
+
+
+/**
+ * Request the system to shut down or reboot.
+ * Note the following:
+ * - The system might not support shutdown. In that case -EINVAL will
+ *   be returned.
+ * - The system might not shutdown immediately, so expect this method to return even
+ *   on success.
+ * @param delay_us optional delay in microseconds
+ * @return 0 on success, <0 on error
+ */
+#if defined(CONFIG_BOARDCTL_POWEROFF) || defined(__PX4_POSIX)
+__EXPORT int px4_shutdown_request(uint32_t delay_us = 0);
+#endif // CONFIG_BOARDCTL_POWEROFF


 /**
@@ -89,10 +109,12 @@ __EXPORT int px4_shutdown_request(bool reboot, bool to_bootloader);
 */
 __EXPORT int px4_shutdown_lock(void);

+
 /**
 * Release the shutdown lock.
 * @return 0 on success, <0 on error
 */
 __EXPORT int px4_shutdown_unlock(void);

+
 __END_DECLS
--- a/platforms/common/include/px4_platform_common/tasks.h
+++ b/platforms/common/include/px4_platform_common/tasks.h
@@ -149,10 +149,6 @@ typedef int (*px4_main_t)(int argc, char *argv[]);

 __BEGIN_DECLS

-/** Reboots the board (without waiting for clean shutdown). Modules should use px4_shutdown_request() in most cases.
- */
-__EXPORT void px4_systemreset(bool to_bootloader) noreturn_function;
-
 /** Starts a task and performs any specific accounting, scheduler setup, etc. */
 __EXPORT px4_task_t px4_task_spawn_cmd(const char *name,
 				       int scheduler,
--- a/platforms/common/shutdown.cpp
+++ b/platforms/common/shutdown.cpp
@@ -36,12 +36,13 @@
 * Implementation of the API declared in px4_shutdown.h.
 */

-#include <board_config.h>
-
+#include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/workqueue.h>
 #include <px4_platform_common/shutdown.h>
 #include <px4_platform_common/tasks.h>

+#include <drivers/drv_hrt.h>
+
 #ifndef MODULE_NAME
 #define MODULE_NAME "shutdown"
 #endif
@@ -52,6 +53,12 @@
 #include <errno.h>
 #include <pthread.h>

+#ifdef __PX4_NUTTX
+#include <nuttx/board.h>
+#endif
+
+using namespace time_literals;
+
 static pthread_mutex_t shutdown_mutex =
 	PTHREAD_MUTEX_INITIALIZER; // protects access to shutdown_hooks & shutdown_lock_counter
 static uint8_t shutdown_lock_counter = 0;
@@ -86,39 +93,7 @@ int px4_shutdown_unlock()
 	return ret;
 }

-
-#if (defined(__PX4_NUTTX) && !defined(CONFIG_SCHED_WORKQUEUE)) || __PX4_QURT
-// minimal NuttX/QuRT build without work queue support
-
-int px4_register_shutdown_hook(shutdown_hook_t hook)
-{
-	return -EINVAL;
-}
-
-int px4_unregister_shutdown_hook(shutdown_hook_t hook)
-{
-	return -EINVAL;
-}
-
-int px4_shutdown_request(bool reboot, bool to_bootloader)
-{
-	int ret = 0;
-	pthread_mutex_lock(&shutdown_mutex);
-
-	// FIXME: if shutdown_lock_counter > 0, we should wait, but unfortunately we don't have work queues
-	if (reboot) {
-		px4_systemreset(to_bootloader);
-
-	} else {
-		ret = board_shutdown();
-	}
-
-	pthread_mutex_unlock(&shutdown_mutex);
-
-	return ret;
-}
-
-#else
+#if defined(CONFIG_SCHED_WORKQUEUE)

 static struct work_s shutdown_work = {};
 static uint16_t shutdown_counter = 0; ///< count how many times the shutdown worker was executed
@@ -128,20 +103,12 @@ static uint16_t shutdown_counter = 0; ///< count how many times the shutdown wor
 #define SHUTDOWN_ARG_TO_BOOTLOADER (1<<2)
 static uint8_t shutdown_args = 0;

-
-static const int max_shutdown_hooks = 1;
+static constexpr int max_shutdown_hooks = 1;
 static shutdown_hook_t shutdown_hooks[max_shutdown_hooks] = {};

-
-static const int shutdown_timeout_ms = 5000; ///< force shutdown after this time if modules do not respond in time
-
-
-/**
- * work queue callback method to shutdown.
- * @param arg unused
- */
-static void shutdown_worker(void *arg);
-
+static hrt_abstime shutdown_time_us = 0;
+static constexpr hrt_abstime shutdown_timeout_us =
+	5_s; ///< force shutdown after this time if modules do not respond in time

 int px4_register_shutdown_hook(shutdown_hook_t hook)
 {
@@ -175,9 +142,11 @@ int px4_unregister_shutdown_hook(shutdown_hook_t hook)
 	return -EINVAL;
 }

-
-
-void shutdown_worker(void *arg)
+/**
+ * work queue callback method to shutdown.
+ * @param arg unused
+ */
+static void shutdown_worker(void *arg)
 {
 	PX4_DEBUG("shutdown worker (%i)", shutdown_counter);
 	bool done = true;
@@ -192,14 +161,29 @@ void shutdown_worker(void *arg)
 		}
 	}

-	if ((done && shutdown_lock_counter == 0) || ++shutdown_counter > shutdown_timeout_ms / 10) {
+	const hrt_abstime now = hrt_absolute_time();
+	const bool delay_elapsed = (now > shutdown_time_us);
+
+	if (delay_elapsed && ((done && shutdown_lock_counter == 0) || (now > (shutdown_time_us + shutdown_timeout_us)))) {
 		if (shutdown_args & SHUTDOWN_ARG_REBOOT) {
-			PX4_WARN("Reboot NOW.");
-			px4_systemreset(shutdown_args & SHUTDOWN_ARG_TO_BOOTLOADER);
+#if defined(CONFIG_BOARDCTL_RESET)
+			PX4_INFO_RAW("Reboot NOW.");
+			board_reset(shutdown_args & SHUTDOWN_ARG_TO_BOOTLOADER);
+#else
+			PX4_PANIC("board reset not available");
+#endif

 		} else {
-			PX4_WARN("Shutdown NOW. Good Bye.");
-			board_shutdown();
+#if defined(CONFIG_BOARDCTL_POWEROFF)
+			PX4_INFO_RAW("Powering off NOW.");
+			board_power_off(0);
+#elif !defined(CONFIG_BOARDCTL_POWEROFF) && defined(__PX4_POSIX)
+			// simply exit on posix if real shutdown (poweroff) not available
+			PX4_INFO_RAW("Exiting NOW.");
+			system_exit(0);
+#else
+			PX4_PANIC("board shutdown not available");
+#endif
 		}

 		pthread_mutex_unlock(&shutdown_mutex); // must NEVER come here
@@ -210,40 +194,56 @@ void shutdown_worker(void *arg)
 	}
 }

-int px4_shutdown_request(bool reboot, bool to_bootloader)
+#if defined(CONFIG_BOARDCTL_RESET)
+int px4_reboot_request(bool to_bootloader, uint32_t delay_us)
 {
-	// fail immediately if the board does not support the requested method
-#if defined BOARD_HAS_NO_RESET
-	if (reboot) {
-		return -EINVAL;
-	}
-
-#endif
-#if !defined(BOARD_HAS_POWER_CONTROL)
-
-	if (!reboot) {
-		return -EINVAL;
-	}
-
-#endif
+	pthread_mutex_lock(&shutdown_mutex);

 	if (shutdown_args & SHUTDOWN_ARG_IN_PROGRESS) {
+		pthread_mutex_unlock(&shutdown_mutex);
 		return 0;
 	}

-	shutdown_args |= SHUTDOWN_ARG_IN_PROGRESS;
-
-	if (reboot) {
-		shutdown_args |= SHUTDOWN_ARG_REBOOT;
-	}
+	shutdown_args |= SHUTDOWN_ARG_REBOOT;

 	if (to_bootloader) {
 		shutdown_args |= SHUTDOWN_ARG_TO_BOOTLOADER;
 	}

-	shutdown_worker(nullptr);
+	shutdown_time_us = hrt_absolute_time();
+
+	if (delay_us > 0) {
+		shutdown_time_us += delay_us;
+	}
+
+	work_queue(HPWORK, &shutdown_work, (worker_t)&shutdown_worker, nullptr, 1);
+	pthread_mutex_unlock(&shutdown_mutex);
 	return 0;
 }
+#endif // CONFIG_BOARDCTL_RESET

+#if defined(CONFIG_BOARDCTL_POWEROFF) || defined(__PX4_POSIX)
+int px4_shutdown_request(uint32_t delay_us)
+{
+	pthread_mutex_lock(&shutdown_mutex);

-#endif /* (defined(__PX4_NUTTX) && !defined(CONFIG_SCHED_WORKQUEUE)) || __PX4_QURT */
+	if (shutdown_args & SHUTDOWN_ARG_IN_PROGRESS) {
+		pthread_mutex_unlock(&shutdown_mutex);
+		return 0;
+	}
+
+	shutdown_args |= SHUTDOWN_ARG_IN_PROGRESS;
+
+	shutdown_time_us = hrt_absolute_time();
+
+	if (delay_us > 0) {
+		shutdown_time_us += delay_us;
+	}
+
+	work_queue(HPWORK, &shutdown_work, (worker_t)&shutdown_worker, nullptr, 1);
+	pthread_mutex_unlock(&shutdown_mutex);
+	return 0;
+}
+#endif // CONFIG_BOARDCTL_POWEROFF
+
+#endif // CONFIG_SCHED_WORKQUEUE)
--- a/platforms/nuttx/src/px4/common/tasks.cpp
+++ b/platforms/nuttx/src/px4/common/tasks.cpp
@@ -41,6 +41,8 @@
 #include <px4_platform_common/log.h>
 #include <px4_platform_common/tasks.h>

+#include <nuttx/board.h>
+
 #include <sys/wait.h>
 #include <stdbool.h>
 #include <stdio.h>
@@ -52,23 +54,10 @@
 #include <errno.h>
 #include <stdbool.h>

-void
-px4_systemreset(bool to_bootloader)
-{
-	board_set_bootload_mode(to_bootloader ? board_reset_enter_bootloader : board_reset_normal);
-	board_system_reset(to_bootloader ? 1 : 0);
-#if defined BOARD_HAS_NO_RESET
-	/* In case there is no HW support Just exit*/
-	PX4_WARN("System Reset Called");
-	exit(1);
-#endif
-}
-
 int px4_task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, main_t entry, char *const argv[])
 {
-	int pid;
-
 	sched_lock();
+
 #if !defined(CONFIG_DISABLE_ENVIRON)
 	/* None of the modules access the environment variables (via getenv() for instance), so delete them
 	 * all. They are only used within the startup script, and NuttX automatically exports them to the children
@@ -77,18 +66,14 @@ int px4_task_spawn_cmd(const char *name, int scheduler, int priority, int stack_
 	 */
 	clearenv();
 #endif
+
 	/* create the task */
-	pid = task_create(name, priority, stack_size, entry, argv);
+	int pid = task_create(name, priority, stack_size, entry, argv);

 	if (pid > 0) {
-
 		/* configure the scheduler */
-		struct sched_param param;
-
-		param.sched_priority = priority;
+		struct sched_param param = { .sched_priority = priority };
 		sched_setscheduler(pid, scheduler, &param);
-
-		/* XXX do any other private task accounting here before the task starts */
 	}

 	sched_unlock();
--- a/platforms/nuttx/src/px4/nxp/imxrt/board_reset/CMakeLists.txt
+++ b/platforms/nuttx/src/px4/nxp/imxrt/board_reset/CMakeLists.txt
@@ -32,5 +32,5 @@
 ############################################################################

 px4_add_library(arch_board_reset
-	board_reset.c
+	board_reset.cpp
 )
--- a/platforms/nuttx/src/px4/nxp/imxrt/board_reset/board_reset.cpp
+++ b/platforms/nuttx/src/px4/nxp/imxrt/board_reset/board_reset.cpp
@@ -33,7 +33,7 @@
 ****************************************************************************/

 /**
- * @file board_reset.c
+ * @file board_reset.cpp
 * Implementation of IMXRT based Board RESET API
 */

@@ -49,43 +49,23 @@
 #  error CONFIG_IMXRT_RTC_MAGIC_REG can nt have the save value as PX4_IMXRT_RTC_REBOOT_REG
 #endif

-int board_reset(int status)
+static int board_reset_enter_bootloader()
 {
-	up_systemreset();
-	return 0;
-}
-
-int board_set_bootload_mode(board_reset_e mode)
-{
-	uint32_t regvalue = 0;
-
-	switch (mode) {
-	case board_reset_normal:
-	case board_reset_extended:
-		break;
-
-	case board_reset_enter_bootloader:
-		regvalue = 0xb007b007;
-		break;
-
-	default:
-		return -EINVAL;
-	}
-
+	uint32_t regvalue = 0xb007b007;
 	putreg32(regvalue, IMXRT_SNVS_LPGPR(PX4_IMXRT_RTC_REBOOT_REG));
 	return OK;
 }

-
-void board_system_reset(int status)
+int board_reset(int status)
 {
+	if (status == 1) {
+		board_reset_enter_bootloader();
+	}
+
 #if defined(BOARD_HAS_ON_RESET)
 	board_on_reset(status);
 #endif

-#ifdef CONFIG_BOARDCTL_RESET
-	board_reset(status);
-#endif
-
-	while (1);
+	up_systemreset();
+	return 0;
 }
--- a/platforms/nuttx/src/px4/nxp/kinetis/board_reset/CMakeLists.txt
+++ b/platforms/nuttx/src/px4/nxp/kinetis/board_reset/CMakeLists.txt
@@ -32,5 +32,5 @@
 ############################################################################

 px4_add_library(arch_board_reset
-	board_reset.c
+	board_reset.cpp
 )
--- a/platforms/nuttx/src/px4/nxp/kinetis/board_reset/board_reset.cpp
+++ b/platforms/nuttx/src/px4/nxp/kinetis/board_reset/board_reset.cpp
@@ -33,7 +33,7 @@
 ****************************************************************************/

 /**
- * @file board_reset.c
+ * @file board_reset.cpp
 * Implementation of kinetis based Board RESET API
 */

@@ -41,12 +41,14 @@
 #include <errno.h>
 #include <nuttx/board.h>

-
 #ifdef CONFIG_BOARDCTL_RESET

-/****************************************************************************
- * Public functions
- ****************************************************************************/
+static int board_reset_enter_bootloader()
+{
+	uint32_t regvalue = 0xb007b007;
+	*((uint32_t *) KINETIS_VBATR_BASE) = regvalue;
+	return OK;
+}

 /****************************************************************************
 * Name: board_reset
@@ -70,38 +72,16 @@

 int board_reset(int status)
 {
+	if (status == 1) {
+		board_reset_enter_bootloader();
+	}
+
+#if defined(BOARD_HAS_ON_RESET)
+	board_on_reset(status);
+#endif
+
 	up_systemreset();
 	return 0;
 }

 #endif /* CONFIG_BOARDCTL_RESET */
-
-
-int board_set_bootload_mode(board_reset_e mode)
-{
-	uint32_t regvalue = 0;
-
-	switch (mode) {
-	case board_reset_normal:
-	case board_reset_extended:
-		break;
-
-	case board_reset_enter_bootloader:
-		regvalue = 0xb007b007;
-		break;
-
-	default:
-		return -EINVAL;
-	}
-
-	*((uint32_t *) KINETIS_VBATR_BASE) = regvalue;
-	return OK;
-}
-
-
-void board_system_reset(int status)
-{
-	board_reset(status);
-
-	while (1);
-}
--- a/platforms/nuttx/src/px4/nxp/s32k1xx/board_reset/CMakeLists.txt
+++ b/platforms/nuttx/src/px4/nxp/s32k1xx/board_reset/CMakeLists.txt
@@ -32,5 +32,5 @@
 ############################################################################

 px4_add_library(arch_board_reset
-	board_reset.c
+	board_reset.cpp
 )
--- a/platforms/nuttx/src/px4/nxp/s32k1xx/board_reset/board_reset.cpp
+++ b/platforms/nuttx/src/px4/nxp/s32k1xx/board_reset/board_reset.cpp
@@ -34,7 +34,7 @@
 ****************************************************************************/

 /**
- * @file board_reset.c
+ * @file board_reset.cpp
 * Implementation of kinetis based Board RESET API
 */

@@ -46,9 +46,12 @@

 #ifdef CONFIG_BOARDCTL_RESET

-/****************************************************************************
- * Public functions
- ****************************************************************************/
+static int board_reset_enter_bootloader()
+{
+	uint32_t regvalue = RCM_PARAM_ESW;
+	*((uint32_t *) S32K1XX_RCM_SRS) = regvalue;
+	return OK;
+}

 /****************************************************************************
 * Name: board_reset
@@ -72,38 +75,16 @@

 int board_reset(int status)
 {
+	if (status == 1) {
+		board_reset_enter_bootloader();
+	}
+
+#if defined(BOARD_HAS_ON_RESET)
+	board_on_reset(status);
+#endif
+
 	up_systemreset();
 	return 0;
 }

 #endif /* CONFIG_BOARDCTL_RESET */
-
-
-int board_set_bootload_mode(board_reset_e mode)
-{
-	uint32_t regvalue = 0;
-
-	switch (mode) {
-	case board_reset_normal:
-	case board_reset_extended:
-		break;
-
-	case board_reset_enter_bootloader:
-		regvalue = RCM_PARAM_ESW;
-		break;
-
-	default:
-		return -EINVAL;
-	}
-
-	*((uint32_t *) S32K1XX_RCM_SRS) = regvalue;
-	return OK;
-}
-
-
-void board_system_reset(int status)
-{
-	board_reset(status);
-
-	while (1);
-}
--- a/platforms/nuttx/src/px4/stm/stm32_common/board_reset/CMakeLists.txt
+++ b/platforms/nuttx/src/px4/stm/stm32_common/board_reset/CMakeLists.txt
@@ -32,5 +32,5 @@
 ############################################################################

 px4_add_library(arch_board_reset
-	board_reset.c
+	board_reset.cpp
 )
--- a/platforms/nuttx/src/px4/stm/stm32_common/board_reset/board_reset.cpp
+++ b/platforms/nuttx/src/px4/stm/stm32_common/board_reset/board_reset.cpp
@@ -33,7 +33,7 @@
 ****************************************************************************/

 /**
- * @file board_reset.c
+ * @file board_reset.cpp
 * Implementation of STM32 based Board RESET API
 */

@@ -45,9 +45,21 @@

 #ifdef CONFIG_BOARDCTL_RESET

-/****************************************************************************
- * Public functions
- ****************************************************************************/
+static int board_reset_enter_bootloader()
+{
+	stm32_pwr_enablebkp(true);
+
+	uint32_t regvalue = 0xb007b007;
+
+// Check if we can to use the new register definition
+#ifndef STM32_RTC_BK0R
+	*(uint32_t *)STM32_BKP_BASE = regvalue;
+#else
+	*(uint32_t *)STM32_RTC_BK0R = regvalue;
+#endif
+	stm32_pwr_enablebkp(false);
+	return OK;
+}

 /****************************************************************************
 * Name: board_reset
@@ -71,51 +83,16 @@

 int board_reset(int status)
 {
+	if (status == 1) {
+		board_reset_enter_bootloader();
+	}
+
+#if defined(BOARD_HAS_ON_RESET)
+	board_on_reset(status);
+#endif
+
 	up_systemreset();
 	return 0;
 }

 #endif /* CONFIG_BOARDCTL_RESET */
-
-int board_set_bootload_mode(board_reset_e mode)
-{
-	uint32_t regvalue = 0;
-
-	switch (mode) {
-	case board_reset_normal:
-	case board_reset_extended:
-		break;
-
-	case board_reset_enter_bootloader:
-		regvalue = 0xb007b007;
-		break;
-
-	default:
-		return -EINVAL;
-	}
-
-	stm32_pwr_enablebkp(true);
-
-// Check if we can to use the new register definition
-#ifndef STM32_RTC_BK0R
-	*(uint32_t *)STM32_BKP_BASE = regvalue;
-#else
-	*(uint32_t *)STM32_RTC_BK0R = regvalue;
-#endif
-	stm32_pwr_enablebkp(false);
-	return OK;
-}
-
-
-void board_system_reset(int status)
-{
-#if defined(BOARD_HAS_ON_RESET)
-	board_on_reset(status);
-#endif
-
-#ifdef CONFIG_BOARDCTL_RESET
-	board_reset(status);
-#endif
-
-	while (1);
-}
--- a/platforms/posix/cmake/sitl_tests.cmake
+++ b/platforms/posix/cmake/sitl_tests.cmake
@@ -104,7 +104,7 @@ if(NOT CMAKE_SYSTEM_NAME STREQUAL "CYGWIN")
 		WORKING_DIRECTORY ${SITL_WORKING_DIR})

 	#set_tests_properties(shutdown PROPERTIES FAIL_REGULAR_EXPRESSION "shutdown FAILED")
-	set_tests_properties(shutdown PROPERTIES PASS_REGULAR_EXPRESSION "Shutting down")
+	set_tests_properties(shutdown PROPERTIES PASS_REGULAR_EXPRESSION "Exiting NOW.")
 	sanitizer_fail_test_on_error(shutdown)
 endif()

@@ -145,7 +145,7 @@ foreach(cmd_name ${test_cmds})
 		WORKING_DIRECTORY ${SITL_WORKING_DIR})

 	sanitizer_fail_test_on_error(posix_${cmd_name})
-	set_tests_properties(posix_${cmd_name} PROPERTIES PASS_REGULAR_EXPRESSION "Shutting down")
+	set_tests_properties(posix_${cmd_name} PROPERTIES PASS_REGULAR_EXPRESSION "Exiting NOW.")
 endforeach()

 if(CMAKE_BUILD_TYPE STREQUAL Coverage)
--- a/platforms/posix/src/px4/common/tasks.cpp
+++ b/platforms/posix/src/px4/common/tasks.cpp
@@ -111,13 +111,6 @@ static void *entry_adapter(void *ptr)
 	return nullptr;
 }

-void
-px4_systemreset(bool to_bootloader)
-{
-	PX4_WARN("Called px4_system_reset");
-	system_exit(0);
-}
-
 px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, px4_main_t entry,
 			      char *const argv[])
 {
--- a/platforms/qurt/src/px4/common/tasks.cpp
+++ b/platforms/qurt/src/px4/common/tasks.cpp
@@ -107,12 +107,6 @@ static void *entry_adapter(void *ptr)
 	return NULL;
 }

-void
-px4_systemreset(bool to_bootloader)
-{
-	PX4_WARN("Called px4_system_reset but NOT yet implemented.");
-}
-
 px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, px4_main_t entry,
 			      char *const argv[])
 {
--- a/posix-configs/SITL/init/test/cmd_template.in
+++ b/posix-configs/SITL/init/test/cmd_template.in
@@ -6,6 +6,7 @@
 uorb start

 param load
+param set CBRK_SUPPLY_CHK 894281
 param set SYS_RESTART_TYPE 0

 dataman start
--- a/posix-configs/SITL/init/test/test_mavlink
+++ b/posix-configs/SITL/init/test/test_mavlink
@@ -6,6 +6,7 @@
 uorb start

 param load
+param set CBRK_SUPPLY_CHK 894281
 param set SYS_RESTART_TYPE 0

 dataman start
--- a/posix-configs/SITL/init/test/test_shutdown
+++ b/posix-configs/SITL/init/test/test_shutdown
@@ -8,6 +8,7 @@ uorb start
 param load

 param set BAT_N_CELLS 3
+param set CBRK_SUPPLY_CHK 894281
 param set MAV_TYPE 22
 param set VT_TYPE 2
 param set SYS_RESTART_TYPE 0
@@ -41,7 +42,7 @@ logger start -e -t

 mavlink boot_complete

-sleep 2
+sleep 1

 echo "Boot complete"

@@ -80,8 +81,6 @@ ekf2 stop
 airspeed_selector stop
 sensors stop

-sleep 2
-
 simulator stop
 tone_alarm stop

--- a/posix-configs/SITL/init/test/test_template.in
+++ b/posix-configs/SITL/init/test/test_template.in
@@ -6,6 +6,7 @@
 uorb start

 param load
+param set CBRK_SUPPLY_CHK 894281
 param set SYS_RESTART_TYPE 0

 dataman start
--- a/posix-configs/SITL/init/test/tests_all
+++ b/posix-configs/SITL/init/test/tests_all
@@ -6,6 +6,7 @@
 uorb start

 param load
+param set CBRK_SUPPLY_CHK 894281
 param set SYS_RESTART_TYPE 0

 dataman start
--- a/src/drivers/uavcannode/UavcanNode.cpp
+++ b/src/drivers/uavcannode/UavcanNode.cpp
@@ -223,7 +223,7 @@ void UavcanNode::busevent_signal_trampoline()

 static void cb_reboot(const uavcan::TimerEvent &)
 {
-	px4_systemreset(false);
+	board_reset(0);
 }

 void UavcanNode::cb_beginfirmware_update(const uavcan::ReceivedDataStructure<UavcanNode::BeginFirmwareUpdate::Request>
@@ -276,7 +276,7 @@ class RestartRequestHandler: public uavcan::IRestartRequestHandler
 	{
 		PX4_INFO("UAVCAN: Restarting by request from %i\n", int(request_source.get()));
 		usleep(20 * 1000 * 1000);
-		px4_systemreset(false);
+		board_reset(0);
 		return true; // Will never be executed BTW
 	}
 } restart_request_handler;
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -95,7 +95,6 @@ typedef enum VEHICLE_MODE_FLAG {

 /* Mavlink log uORB handle */
 static orb_advert_t mavlink_log_pub = nullptr;
-static orb_advert_t power_button_state_pub = nullptr;

 /* flags */
 static volatile bool thread_should_exit = false;	/**< daemon exit flag */
@@ -116,6 +115,8 @@ void *commander_low_prio_loop(void *arg);
 static void answer_command(const vehicle_command_s &cmd, unsigned result,
 			   uORB::PublicationQueued<vehicle_command_ack_s> &command_ack_pub);

+#if defined(BOARD_HAS_POWER_CONTROL)
+static orb_advert_t power_button_state_pub = nullptr;
 static int power_button_state_notification_cb(board_power_button_state_notification_e request)
 {
 	// Note: this can be called from IRQ handlers, so we publish a message that will be handled
@@ -155,6 +156,7 @@ static int power_button_state_notification_cb(board_power_button_state_notificat

 	return ret;
 }
+#endif // BOARD_HAS_POWER_CONTROL

 #ifndef CONSTRAINED_FLASH
 static bool send_vehicle_command(uint16_t cmd, float param1 = NAN, float param2 = NAN, float param3 = NAN,
@@ -231,9 +233,6 @@ extern "C" __EXPORT int commander_main(int argc, char *argv[])
 		thread_should_exit = true;

 		Commander::main(argc, argv);
-
-		PX4_INFO("terminated.");
-
 		return 0;
 	}

@@ -992,50 +991,47 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_
 		cmd_result = handle_command_motor_test(cmd);
 		break;

-	case vehicle_command_s::VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
+	case vehicle_command_s::VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN: {

-		// do nothing for autopilot
-		if (((int)(cmd.param1)) == 0) {
-			answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED, command_ack_pub);
+			const int param1 = cmd.param1;

-			break;
-		}
-
-		if (shutdown_if_allowed()) {
-			bool shutdown_ret_val = PX4_ERROR;
-
-			if (((int)(cmd.param1)) == 1) {
+			if (param1 == 0) {
+				// 0: Do nothing for autopilot
 				answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED, command_ack_pub);
-				px4_usleep(200000);
-				// reboot
-				shutdown_ret_val = px4_shutdown_request(true, false);

-			} else if (((int)(cmd.param1)) == 2) {
-				answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED, command_ack_pub);
-				px4_usleep(200000);
-				// shutdown
-				shutdown_ret_val = px4_shutdown_request(false, false);
+#if defined(CONFIG_BOARDCTL_RESET)

-			} else if (((int)(cmd.param1)) == 3) {
+			} else if ((param1 == 1) && shutdown_if_allowed() && (px4_reboot_request(false, 400_ms) == 0)) {
+				// 1: Reboot autopilot
 				answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED, command_ack_pub);
-				px4_usleep(200000);
-				// reboot to bootloader
-				shutdown_ret_val = px4_shutdown_request(true, true);
+
+				while (1) { px4_usleep(1); }
+
+#endif // CONFIG_BOARDCTL_RESET
+
+#if defined(CONFIG_BOARDCTL_POWEROFF)
+
+			} else if ((param1 == 2) && shutdown_if_allowed() && (px4_shutdown_request(400_ms) == 0)) {
+				// 2: Shutdown autopilot
+				answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED, command_ack_pub);
+
+				while (1) { px4_usleep(1); }
+
+#endif // CONFIG_BOARDCTL_POWEROFF
+
+#if defined(CONFIG_BOARDCTL_RESET)
+
+			} else if ((param1 == 3) && shutdown_if_allowed() && (px4_reboot_request(true, 400_ms) == 0)) {
+				// 3: Reboot autopilot and keep it in the bootloader until upgraded.
+				answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED, command_ack_pub);
+
+				while (1) { px4_usleep(1); }
+
+#endif // CONFIG_BOARDCTL_RESET

 			} else {
 				answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_DENIED, command_ack_pub);
-				break;
 			}
-
-			if (shutdown_ret_val) {
-				mavlink_log_critical(&mavlink_log_pub, "System does not support shutdown");
-
-			} else {
-				while (1) { px4_usleep(1); }
-			}
-
-		} else {
-			answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_DENIED, command_ack_pub);
 		}

 		break;
@@ -1219,6 +1215,7 @@ Commander::run()
 	led_init();
 	buzzer_init();

+#if defined(BOARD_HAS_POWER_CONTROL)
 	{
 		// we need to do an initial publication to make sure uORB allocates the buffer, which cannot happen
 		// in IRQ context.
@@ -1234,6 +1231,7 @@ Commander::run()
 		PX4_ERR("Failed to register power notification callback");
 	}

+#endif // BOARD_HAS_POWER_CONTROL

 	get_circuit_breaker_params();

@@ -1409,17 +1407,27 @@ Commander::run()
 		/* Update OA parameter */
 		status_flags.avoidance_system_required = _param_com_obs_avoid.get();

+#if defined(BOARD_HAS_POWER_CONTROL)
+
 		/* handle power button state */
 		if (_power_button_state_sub.updated()) {
 			power_button_state_s button_state;

 			if (_power_button_state_sub.copy(&button_state)) {
 				if (button_state.event == power_button_state_s::PWR_BUTTON_STATE_REQUEST_SHUTDOWN) {
-					px4_shutdown_request(false, false);
+#if defined(CONFIG_BOARDCTL_POWEROFF)
+
+					if (shutdown_if_allowed() && (px4_shutdown_request() == 0)) {
+						while (1) { px4_usleep(1); }
+					}
+
+#endif // CONFIG_BOARDCTL_POWEROFF
 				}
 			}
 		}

+#endif // BOARD_HAS_POWER_CONTROL
+
 		_sp_man_sub.update(&_sp_man);

 		offboard_control_update();
@@ -1439,8 +1447,10 @@ Commander::run()
 					status_flags.condition_power_input_valid = true;
 				}

+#if defined(CONFIG_BOARDCTL_RESET)
+
 				/* if the USB hardware connection went away, reboot */
-				if (status_flags.usb_connected && !system_power.usb_connected && shutdown_if_allowed()) {
+				if (status_flags.usb_connected && !system_power.usb_connected) {
 					/*
 					 * Apparently the USB cable went away but we are still powered,
 					 * so we bring the system back to a nominal state for flight.
@@ -1449,10 +1459,14 @@ Commander::run()
 					 * for flight and continuing to run it would add a software risk
 					 * without a need. The clean approach to unload it is to reboot.
 					 */
-					mavlink_log_critical(&mavlink_log_pub, "USB disconnected, rebooting for flight safety")
-					px4_usleep(400000);
-					px4_shutdown_request(true, false);
+					if (shutdown_if_allowed() && (px4_reboot_request(400_ms) == 0)) {
+						mavlink_log_critical(&mavlink_log_pub, "USB disconnected, rebooting for flight safety");
+
+						while (1) { px4_usleep(1); }
+					}
 				}
+
+#endif // CONFIG_BOARDCTL_RESET
 			}
 		}

@@ -3471,12 +3485,6 @@ void *commander_low_prio_loop(void *arg)

 					} else if (((int)(cmd.param1)) == 1) {

-#ifdef __PX4_QURT
-						// TODO FIXME: on snapdragon the save happens too early when the params
-						// are not set yet. We therefore need to wait some time first.
-						px4_usleep(1000000);
-#endif
-
 						int ret = param_save_default();

 						if (ret == OK) {
@@ -3883,18 +3891,19 @@ void Commander::battery_status_check()
 	// Handle shutdown request from emergency battery action
 	if (update_internal_battery_state) {

-		if ((_battery_warning == battery_status_s::BATTERY_WARNING_EMERGENCY) && shutdown_if_allowed()) {
-			mavlink_log_critical(&mavlink_log_pub, "Dangerously low battery! Shutting system down");
-			px4_usleep(200000);
+		if (_battery_warning == battery_status_s::BATTERY_WARNING_EMERGENCY) {
+#if defined(CONFIG_BOARDCTL_POWEROFF)

-			int ret_val = px4_shutdown_request(false, false);
+			if (shutdown_if_allowed() && (px4_shutdown_request(400_ms) == 0)) {
+				mavlink_log_critical(&mavlink_log_pub, "Dangerously low battery! Shutting system down");

-			if (ret_val) {
-				mavlink_log_critical(&mavlink_log_pub, "System does not support shutdown");
+				while (1) { px4_usleep(1); }

 			} else {
-				while (1) { px4_usleep(1); }
+				mavlink_log_critical(&mavlink_log_pub, "System does not support shutdown");
 			}
+
+#endif // CONFIG_BOARDCTL_POWEROFF
 		}
 	}
 }
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -398,7 +398,6 @@ private:
 	uORB::Subscription					_iridiumsbd_status_sub{ORB_ID(iridiumsbd_status)};
 	uORB::Subscription					_land_detector_sub{ORB_ID(vehicle_land_detected)};
 	uORB::Subscription					_parameter_update_sub{ORB_ID(parameter_update)};
-	uORB::Subscription					_power_button_state_sub{ORB_ID(power_button_state)};
 	uORB::Subscription					_safety_sub{ORB_ID(safety)};
 	uORB::Subscription					_sp_man_sub{ORB_ID(manual_control_setpoint)};
 	uORB::Subscription					_subsys_sub{ORB_ID(subsystem_info)};
@@ -407,6 +406,10 @@ private:
 	uORB::Subscription					_vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};
 	uORB::Subscription					_vtol_vehicle_status_sub{ORB_ID(vtol_vehicle_status)};

+#if defined(BOARD_HAS_POWER_CONTROL)
+	uORB::Subscription					_power_button_state_sub {ORB_ID(power_button_state)};
+#endif // BOARD_HAS_POWER_CONTROL
+
 	uORB::SubscriptionData<airspeed_s>			_airspeed_sub{ORB_ID(airspeed)};
 	uORB::SubscriptionData<estimator_status_s>		_estimator_status_sub{ORB_ID(estimator_status)};
 	uORB::SubscriptionData<mission_result_s>		_mission_result_sub{ORB_ID(mission_result)};
--- a/src/modules/replay/Replay.cpp
+++ b/src/modules/replay/Replay.cpp
@@ -852,7 +852,7 @@ Replay::run()

 		//TODO: add parameter -q?
 		replay_file.close();
-		px4_shutdown_request(false, false);
+		px4_shutdown_request();
 	}

 	onExitMainLoop();
--- a/src/systemcmds/reboot/CMakeLists.txt
+++ b/src/systemcmds/reboot/CMakeLists.txt
@@ -35,7 +35,8 @@ px4_add_module(
 	MAIN reboot
 	COMPILE_FLAGS
 	SRCS
-		reboot.c
+		reboot.cpp
 	DEPENDS
+		px4_platform
 	)

--- a/src/systemcmds/reboot/reboot.cpp
+++ b/src/systemcmds/reboot/reboot.cpp
@@ -45,9 +45,7 @@
 #include <px4_platform_common/shutdown.h>
 #include <string.h>

-__EXPORT int reboot_main(int argc, char *argv[]);
-
-static void print_usage(void)
+static void print_usage()
 {
 	PRINT_MODULE_DESCRIPTION("Reboot the system");

@@ -57,13 +55,13 @@ static void print_usage(void)
 	PRINT_MODULE_USAGE_ARG("lock|unlock", "Take/release the shutdown lock (for testing)", true);
 }

-int reboot_main(int argc, char *argv[])
+extern "C" __EXPORT int reboot_main(int argc, char *argv[])
 {
 	int ch;
 	bool to_bootloader = false;

 	int myoptind = 1;
-	const char *myoptarg = NULL;
+	const char *myoptarg = nullptr;

 	while ((ch = px4_getopt(argc, argv, "b", &myoptind, &myoptarg)) != -1) {
 		switch (ch) {
@@ -100,7 +98,7 @@ int reboot_main(int argc, char *argv[])
 		return ret;
 	}

-	int ret = px4_shutdown_request(true, to_bootloader);
+	int ret = px4_reboot_request(to_bootloader);

 	if (ret < 0) {
 		PX4_ERR("reboot failed (%i)", ret);
--- a/src/systemcmds/shutdown/CMakeLists.txt
+++ b/src/systemcmds/shutdown/CMakeLists.txt
@@ -33,7 +33,6 @@
 px4_add_module(
 	MODULE systemcmds__shutdown
 	MAIN shutdown
-	COMPILE_FLAGS
 	SRCS
-		shutdown.c
+		shutdown.cpp
 	)
--- a/src/systemcmds/shutdown/shutdown.cpp
+++ b/src/systemcmds/shutdown/shutdown.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (C) 2016 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2016-2020 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -35,16 +35,10 @@
 * @file shutdown.c
 * Tool similar to UNIX shutdown command.
 */
-
+#include <px4_platform_common/shutdown.h>
 #include <px4_platform_common/tasks.h>

-__EXPORT int shutdown_main(int argc, char *argv[]);
-
-int shutdown_main(int argc, char *argv[])
+extern "C" __EXPORT int shutdown_main(int argc, char *argv[])
 {
-	(void)argc;
-	(void)argv;
-
-	const bool to_bootloader = false;
-	px4_systemreset(to_bootloader);
+	return px4_shutdown_request();
 }
--- a/src/systemcmds/tests/CMakeLists.txt
+++ b/src/systemcmds/tests/CMakeLists.txt
@@ -58,7 +58,6 @@ set(srcs
 	test_microbench_matrix.cpp
 	test_microbench_uorb.cpp
 	test_mixer.cpp
-	test_mount.c
 	test_param.c
 	test_parameters.cpp
 	test_perf.c
@@ -80,6 +79,7 @@ set(srcs

 if(${PX4_PLATFORM} STREQUAL "nuttx")
 	list(APPEND srcs
+		test_mount.cpp
 		test_time.c
 		test_uart_break.c
 		)
--- a/src/systemcmds/tests/test_mount.cpp
+++ b/src/systemcmds/tests/test_mount.cpp
@@ -40,6 +40,7 @@
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/posix.h>
 #include <px4_platform_common/tasks.h>
+#include <px4_platform_common/shutdown.h>

 #include <sys/stat.h>
 #include <dirent.h>
@@ -56,8 +57,7 @@
 const int fsync_tries = 1;
 const int abort_tries = 10;

-int
-test_mount(int argc, char *argv[])
+int test_mount(int argc, char *argv[])
 {
 	const unsigned iterations = 2000;
 	const unsigned alignments = 10;
@@ -289,7 +289,7 @@ test_mount(int argc, char *argv[])
 	fsync(fileno(stdout));
 	fsync(fileno(stderr));
 	px4_usleep(50000);
-	px4_systemreset(false);
+	px4_reboot_request();

 	/* never going to get here */
 	return 0;
--- a/src/systemcmds/tests/tests_main.c
+++ b/src/systemcmds/tests/tests_main.c
@@ -69,6 +69,7 @@ const struct {
 #ifdef __PX4_NUTTX
 	{"file",		test_file,		OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"led",			test_led,		0},
+	{"mount",		test_mount,		OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"time",		test_time,		OPT_NOJIGTEST},
 	{"uart_baudchange",	test_uart_baudchange,	OPT_NOJIGTEST},
 	{"uart_break",		test_uart_break,	OPT_NOJIGTEST | OPT_NOALLTEST},
@@ -102,7 +103,6 @@ const struct {
 	{"microbench_uorb",	test_microbench_uorb,	0},
 	{"mixer",		test_mixer,		OPT_NOJIGTEST},
 	{"mixer",		test_mixer,		OPT_NOJIGTEST},
-	{"mount",		test_mount,		OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"param",		test_param,		0},
 	{"parameters",		test_parameters,	0},
 	{"perf",		test_perf,		OPT_NOJIGTEST},