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ROMFS: fix SYS_USE_IO==0 

When SYS_USE_IO was disabled, px4io would not start and thus there was no
RC. SYS_USE_IO=0 is interesting on Quads to avoid the IO and reduce output
latency.

Tested on Pixhawk 1 and Pixhawk 4
This commit is contained in:
Beat Küng 2018-05-28 16:37:28 +02:00 committed by Lorenz Meier
parent ae75ff6c72
commit 77cea8844f
2 changed files with 45 additions and 43 deletions
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5
ROMFS/px4fmu_common/init.d/rc.interface
View File

@ -125,6 +125,11 @@ then
set MIXER_AUX none
fi
if [ $USE_IO == no ]
then
set MIXER_AUX none
fi
if [ $MIXER_AUX != none -a $AUX_MODE != none ]
then
#

83
ROMFS/px4fmu_common/init.d/rcS
View File

@ -321,60 +321,57 @@ then
set IO_PRESENT no
if [ $USE_IO == yes ]
#
# Check if PX4IO present and update firmware if needed
#
if [ -f /etc/extras/px4io-v2.bin ]
then
#
# Check if PX4IO present and update firmware if needed
#
if [ -f /etc/extras/px4io-v2.bin ]
set IO_FILE /etc/extras/px4io-v2.bin
if px4io checkcrc ${IO_FILE}
then
set IO_FILE /etc/extras/px4io-v2.bin
set IO_PRESENT yes
else
tone_alarm MLL32CP8MB
if px4io checkcrc ${IO_FILE}
if px4io start
then
set IO_PRESENT yes
else
tone_alarm MLL32CP8MB
if px4io start
# try to safe px4 io so motor outputs dont go crazy
if px4io safety_on
then
# try to safe 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
tone_alarm MLL8CDE
set IO_PRESENT yes
else
echo "PX4IO update failed" >> $LOG_FILE
tone_alarm ${TUNE_ERR}
fi
# success! no-op
else
echo "PX4IO update failed" >> $LOG_FILE
tune_control play -m ${TUNE_ERR}
# px4io did not respond to the safety command
px4io stop
fi
fi
fi
unset IO_FILE
if [ $IO_PRESENT == no ]
then
echo "PX4IO not found" >> $LOG_FILE
tune_control play -m ${TUNE_ERR}
if px4io forceupdate 14662 ${IO_FILE}
then
usleep 10000
if px4io checkcrc ${IO_FILE}
then
echo "PX4IO CRC OK after updating" >> $LOG_FILE
tone_alarm MLL8CDE
set IO_PRESENT yes
else
echo "PX4IO update failed" >> $LOG_FILE
tone_alarm ${TUNE_ERR}
fi
else
echo "PX4IO update failed" >> $LOG_FILE
tune_control play -m ${TUNE_ERR}
fi
fi
fi
unset IO_FILE
if [ $USE_IO == yes -a $IO_PRESENT == no ]
then
echo "PX4IO not found" >> $LOG_FILE
tune_control play -m ${TUNE_ERR}
fi
#
# Set default output if not set