From 8833f81b48aa738125b42a08aca05e3131cb8f8f Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 23 Jan 2014 08:45:29 +0100
Subject: [PATCH] Do not make PX4IO start mandatory for forceupdate

---
 src/drivers/px4io/px4io.cpp | 37 ++++++++++++++++++++++++++++---------
 1 file changed, 28 insertions(+), 9 deletions(-)

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 27ee1fb420..4844372b84 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -2367,8 +2367,10 @@ start(int argc, char *argv[])
 	/* create the driver - it will set g_dev */
 	(void)new PX4IO(interface);
 
-	if (g_dev == nullptr)
+	if (g_dev == nullptr) {
+		delete interface;
 		errx(1, "driver alloc failed");
+	}
 
 	if (OK != g_dev->init()) {
 		delete g_dev;
@@ -2769,18 +2771,35 @@ px4io_main(int argc, char *argv[])
 		}
 		if (g_dev == nullptr) {
 			warnx("px4io is not started, still attempting upgrade");
-		} else {
-			uint16_t arg = atol(argv[2]);
-			int ret = g_dev->ioctl(nullptr, PX4IO_REBOOT_BOOTLOADER, arg);
-			if (ret != OK) {
-				printf("reboot failed - %d\n", ret);
-				exit(1);
+
+			/* allocate the interface */
+			device::Device *interface = get_interface();
+
+			/* create the driver - it will set g_dev */
+			(void)new PX4IO(interface);
+
+			if (g_dev == nullptr) {
+				delete interface;
+				errx(1, "driver alloc failed");
 			}
 
-			// tear down the px4io instance
-			delete g_dev;
+			if (OK != g_dev->init()) {
+				delete g_dev;
+				g_dev = nullptr;
+				errx(1, "driver init failed");
+			}
 		}
 
+		uint16_t arg = atol(argv[2]);
+		int ret = g_dev->ioctl(nullptr, PX4IO_REBOOT_BOOTLOADER, arg);
+		if (ret != OK) {
+			printf("reboot failed - %d\n", ret);
+			exit(1);
+		}
+
+		// tear down the px4io instance
+		delete g_dev;
+
 		// upload the specified firmware
 		const char *fn[2];
 		fn[0] = argv[3];