Move px4io firmware update logic block to rc.io.

PX4 · Aug 2, 2018 · 0928112 · 0928112
1 parent 7723860
commit 0928112
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Showing 2 changed files with 64 additions and 60 deletions.
diff --git a/ROMFS/px4fmu_common/init.d/rc.io b/ROMFS/px4fmu_common/init.d/rc.io
@@ -3,6 +3,60 @@
 # PX4IO interface init script.
 #
 
+#
+# Check if PX4IO present and update firmware if needed.
+#
+if [ -f /etc/extras/px4io-v2.bin ]
+then
+	set IO_FILE /etc/extras/px4io-v2.bin
+
+	if px4io checkcrc ${IO_FILE}
+	then
+		set IO_PRESENT yes
+	else
+		tune_control play -m MLL32CP8MB
+
+		if px4io start
+		then
+			# Try to safety px4 io so motor outputs dont go crazy.
+			if px4io safety_on
+			then
+				# success! no-op
+			else
+				# px4io did not respond to the safety command.
+				px4io stop
+			fi
+		fi
+
+		if px4io forceupdate 14662 ${IO_FILE}
+		then
+			usleep 10000
+			if px4io checkcrc ${IO_FILE}
+			then
+				echo "PX4IO CRC OK after updating" >> $LOG_FILE
+				tune_control play -m MLL8CDE
+
+				set IO_PRESENT yes
+			else
+				echo "PX4IO update failed" >> $LOG_FILE
+				# Error tune.
+				tune_control play -t 2
+			fi
+		else
+			echo "PX4IO update failed" >> $LOG_FILE
+			# Error tune.
+			tune_control play -t 2
+		fi
+	fi
+fi
+
+if [ $USE_IO == yes -a $IO_PRESENT == no ]
+then
+	echo "PX4IO not found" >> $LOG_FILE
+	# Error tune.
+	tune_control play -t 2
+fi
+
 if px4io start
 then
 	# Allow PX4IO to recover from midair restarts.
@@ -12,5 +66,6 @@ then
 	px4io limit 400
 else
 	echo "PX4IO start failed" >> $LOG_FILE
-	tune_control play -m ${TUNE_ERR}
+	# Error tune.
+	tune_control play -t 2
 fi
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
@@ -335,53 +335,6 @@ else
 		param set SYS_AUTOCONFIG 0
 	fi
 
-	#
-	# Check if PX4IO present and update firmware if needed.
-	#
-	if [ -f /etc/extras/px4io-v2.bin ]
-	then
-		set IO_FILE /etc/extras/px4io-v2.bin
-
-		if px4io checkcrc ${IO_FILE}
-		then
-			set IO_PRESENT yes
-		else
-			tune_control play -m MLL32CP8MB
-
-			if px4io start
-			then
-				# Try to safety px4 io so motor outputs don't go crazy.
-				if px4io safety_on
-				then
-					# success! no-op
-				else
-					# px4io did not respond to the safety command.
-					px4io stop
-				fi
-			fi
-
-			if px4io forceupdate 14662 ${IO_FILE}
-			then
-				usleep 10000
-				if px4io checkcrc ${IO_FILE}
-				then
-					echo "PX4IO CRC OK after updating" >> $LOG_FILE
-					tune_control play -m MLL8CDE
-
-					set IO_PRESENT yes
-				else
-					echo "PX4IO update failed" >> $LOG_FILE
-					# Error tune.
-					tune_control play -t 2
-				fi
-			else
-				echo "PX4IO update failed" >> $LOG_FILE
-				# Error tune.
-				tune_control play -t 2
-			fi
-		fi
-	fi
-
 	#
 	# Set USE_IO flag.
 	#
@@ -390,18 +343,6 @@ else
 		set USE_IO yes
 	fi
 
-	if [ $USE_IO == yes -a $IO_PRESENT == no ]
-	then
-		echo "PX4IO not found" >> $LOG_FILE
-		# Error tune.
-		tune_control play -t 2
-	fi
-
-	if [ $IO_PRESENT == no -o $USE_IO == no ]
-	then
-		rc_input start
-	fi
-
 	#
 	# Sensors System (start before Commander so Preflight checks are properly run).
 	# Commander needs to be this early for in-air-restarts.
@@ -504,6 +445,14 @@ else
 	#
 	sh /etc/init.d/rc.logging
 
+	#
+	# Start the rc_input driver.
+	#
+	if [ $USE_IO == no -o $IO_PRESENT == no ]
+	then
+		rc_input start
+	fi
+
 	#
 	# Start vmount to control mounts such as gimbals, disabled by default.
 	#