From 2b360bfd48049a074def3fd404bb3274cadc49c1 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Thu, 26 Mar 2020 13:53:24 +0100
Subject: [PATCH] rcS: fixes for SYS_USE_IO=0

rc.io is called from 2 places in rc.interface:
- if [ $OUTPUT_MODE = io -o $OUTPUT_MODE = uavcan_esc ]:
  - 'set OUTPUT_MODE io' is only set within USE_IO=yes, so removing
    the check in rc.io has no effect.
  - in case of UAVCAN, we also want the IO for RC, now covered in the next
    case.
- Further down ('Start IO for RC input if needed.').
  This is intended to start IO for RC only, when fmu is already started.
  However the previous check '$USE_IO = yes' in rc.io prevented that.

In addition we don't start rc_input in case of $USE_IO = no.

Fixes no RC on Pixhawk 2 with SYS_USE_IO=0.
---
 ROMFS/px4fmu_common/init.d/rc.interface | 2 +-
 ROMFS/px4fmu_common/init.d/rc.io        | 2 +-
 ROMFS/px4fmu_common/init.d/rcS          | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface
index 2a4764ecb6..e0ee2dffd4 100644
--- a/ROMFS/px4fmu_common/init.d/rc.interface
+++ b/ROMFS/px4fmu_common/init.d/rc.interface
@@ -109,7 +109,7 @@ then
 		fi
 	fi
 
-	if [ $OUTPUT_MODE = io -o $OUTPUT_MODE = uavcan_esc ]
+	if [ $OUTPUT_MODE = io ]
 	then
 		sh /etc/init.d/rc.io
 	fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.io b/ROMFS/px4fmu_common/init.d/rc.io
index 2f0aadb96f..7633884ea1 100644
--- a/ROMFS/px4fmu_common/init.d/rc.io
+++ b/ROMFS/px4fmu_common/init.d/rc.io
@@ -10,7 +10,7 @@ then
     set HIL_ARG $OUTPUT_MODE
 fi
 
-if [ $USE_IO = yes -a $IO_PRESENT = yes ]
+if [ $IO_PRESENT = yes ]
 then
 	if px4io start $HIL_ARG
 	then
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index e48308f162..f44927b0f8 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -427,7 +427,7 @@ else
 	#
 	sh /etc/init.d/rc.serial
 
-	if [ $IO_PRESENT = no -o $USE_IO = no ]
+	if [ $IO_PRESENT = no ]
 	then
 		# Must be started after the serial config is read
 		rc_input start $RC_INPUT_ARGS