From 4466dbf0b37f0a80790c346affee1e4ac86bef22 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sun, 16 Mar 2014 18:47:21 +0100
Subject: [PATCH] add SYS_USE_IO param which allows using standard startup
 scripts for FMU only mode

---
 ROMFS/px4fmu_common/init.d/rcS        | 11 ++++++++++-
 src/modules/systemlib/system_params.c | 11 +++++++++++
 2 files changed, 21 insertions(+), 1 deletion(-)

diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 7c3524fef0..65a66a085c 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -108,7 +108,6 @@ then
 	set HIL no
 	set VEHICLE_TYPE none
 	set MIXER none
-	set USE_IO yes
 	set OUTPUT_MODE none
 	set PWM_OUTPUTS none
 	set PWM_RATE none
@@ -129,6 +128,16 @@ then
 	else
 		set DO_AUTOCONFIG no
 	fi
+	
+	#
+	# Set USE_IO flag
+	#
+	if param compare SYS_USE_IO 1
+	then
+		set USE_IO yes
+	else
+		set USE_IO no
+	fi
 		
 	#
 	# Set parameters and env variables for selected AUTOSTART
diff --git a/src/modules/systemlib/system_params.c b/src/modules/systemlib/system_params.c
index cb35a25413..ec2bc3a9a0 100644
--- a/src/modules/systemlib/system_params.c
+++ b/src/modules/systemlib/system_params.c
@@ -60,3 +60,14 @@ PARAM_DEFINE_INT32(SYS_AUTOSTART, 0);
  * @group System
  */
 PARAM_DEFINE_INT32(SYS_AUTOCONFIG, 0);
+
+/**
+ * Set usage of IO board
+ *
+ * Can be used to use a standard startup script but with a FMU only set-up. Set to 0 to force the FMU only set-up.
+ *
+ * @min 0
+ * @max 1
+ * @group System
+ */
+PARAM_DEFINE_INT32(SYS_USE_IO, 1);