AP_BoardConfig: force user to ack crashdump or get prearm failure

SW-148

libraries/AP_BoardConfig/AP_BoardConfig.cpp

@@ -337,6 +337,15 @@ const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
     AP_GROUPINFO("HEAT_LOWMGN", 23, AP_BoardConfig, heater.imu_arming_temperature_margin_low, HAL_IMU_TEMP_MARGIN_LOW_DEFAULT),
 #endif
 
+#if AP_CRASHDUMP_ACK_ENABLED
+    // @Param: CRSHDMP_ACK
+    // @DisplayName: CrashDump Acknowledgement Required
+    // @Description: Must have value "1" if a crashdump is present on the system, or prearm failure will be raised.  Do not set this parameter unless the risks of doing so are fully understood.  The presence of a crash dump means that the firmware currently installed has crashed with a hardfault or watchdog. The crash dump file gives diagnostic information which can help in finding the issue. Please check the ArduPilot documentation for more details.
+    // @Values: 0:Crash dump NOT acked,1:Crash dump acked
+    // @User: Advanced
+    AP_GROUPINFO("CRSHDMP_ACK", 30, AP_BoardConfig, crashdump_ack.acked, 0),
+#endif  // AP_CRASHDUMP_ACK_ENABLED
+
     AP_GROUPEND
 };
 
@@ -372,7 +381,24 @@ void AP_BoardConfig::init()
         printf("SDCard failed to start\n");
     }
 #endif
+
+#if AP_CRASHDUMP_ACK_ENABLED
+    crashdump_ack.check_reset();
+#endif
+}
+
+#if AP_CRASHDUMP_ACK_ENABLED
+void AP_BoardConfig::CrashDump::check_reset()
+{
+    // if there is no crash dump data then clear the crash dump ack.
+    // This means on subsequent crash-dumps appearing the user must
+    // re-acknowledge.
+    if (hal.util->last_crash_dump_size() == 0) {
+        // no crash dump data
+        acked.set_and_save_ifchanged(0);
+    }
 }
+#endif  // AP_CRASHDUMP_ACK_ENABLED
 
 // set default value for BRD_SAFETY_MASK
 void AP_BoardConfig::set_default_safety_ignore_mask(uint16_t mask)

libraries/AP_BoardConfig/AP_BoardConfig.h

@@ -1,5 +1,6 @@
 #pragma once
 
+#include "AP_BoardConfig_config.h"
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Common/AP_Common.h>
 #include <AP_Param/AP_Param.h>
@@ -58,6 +59,10 @@ class AP_BoardConfig {
     void init(void);
     void init_safety(void);
 
+#if AP_CRASHDUMP_ACK_ENABLED
+    bool crashdump_acknowledged() const { return crashdump_ack.acked; }
+#endif
+
     static const struct AP_Param::GroupInfo var_info[];
 
     // notify user of a fatal startup error related to available sensors. 
@@ -306,6 +311,14 @@ class AP_BoardConfig {
     AP_Int32 _options;
 
     AP_Int8  _alt_config;
+
+#if AP_CRASHDUMP_ACK_ENABLED
+    struct CrashDump {
+        void check_reset();
+        AP_Int8  acked;
+    } crashdump_ack;
+#endif  // AP_CRASHDUMP_ACK_ENABLED
+
 };
 
 namespace AP {

libraries/AP_BoardConfig/AP_BoardConfig_config.h

@@ -0,0 +1,41 @@
+#pragma once
+
+#include <AP_HAL/AP_HAL.h>
+#include <AP_Filesystem/AP_Filesystem_config.h>
+
+#ifndef AP_FEATURE_BOARD_DETECT
+#if defined(HAL_CHIBIOS_ARCH_FMUV3) || defined(HAL_CHIBIOS_ARCH_FMUV4) || defined(HAL_CHIBIOS_ARCH_FMUV5) || defined(HAL_CHIBIOS_ARCH_MINDPXV2) || defined(HAL_CHIBIOS_ARCH_FMUV4PRO) || defined(HAL_CHIBIOS_ARCH_BRAINV51) || defined(HAL_CHIBIOS_ARCH_BRAINV52) || defined(HAL_CHIBIOS_ARCH_UBRAINV51) || defined(HAL_CHIBIOS_ARCH_COREV10) || defined(HAL_CHIBIOS_ARCH_BRAINV54)
+#define AP_FEATURE_BOARD_DETECT 1
+#else
+#define AP_FEATURE_BOARD_DETECT 0
+#endif
+#endif
+
+#ifndef AP_FEATURE_RTSCTS
+#define AP_FEATURE_RTSCTS 0
+#endif
+
+#ifndef AP_FEATURE_SBUS_OUT
+#define AP_FEATURE_SBUS_OUT 0
+#endif
+
+#ifndef HAL_WATCHDOG_ENABLED_DEFAULT
+#define HAL_WATCHDOG_ENABLED_DEFAULT false
+#endif
+
+#if HAL_HAVE_IMU_HEATER
+#ifndef HAL_IMUHEAT_P_DEFAULT
+#define HAL_IMUHEAT_P_DEFAULT 200
+#endif
+#ifndef HAL_IMUHEAT_I_DEFAULT
+#define HAL_IMUHEAT_I_DEFAULT 0.3
+#endif
+#endif
+
+#ifndef AP_SDCARD_STORAGE_ENABLED
+#define AP_SDCARD_STORAGE_ENABLED (HAL_MEM_CLASS >= HAL_MEM_CLASS_1000) && (AP_FILESYSTEM_POSIX_ENABLED || AP_FILESYSTEM_FATFS_ENABLED) && BOARD_FLASH_SIZE > 1024
+#endif
+
+#ifndef AP_CRASHDUMP_ACK_ENABLED
+#define AP_CRASHDUMP_ACK_ENABLED AP_CRASHDUMP_ENABLED
+#endif