Merge pull request #11 from ethz-asl/pr-upstream-merge

23/02/2021 Upstream Merge

ROMFS/px4fmu_common/init.d/rcS

@@ -73,13 +73,6 @@ sercon
 #
 ver all
 
-#
-# Start the ORB (first app to start)
-# tone_alarm and tune_control
-# is dependent.
-#
-uorb start
-
 #
 # Try to mount the microSD card.
 #
@@ -289,33 +282,18 @@ else
 				# tune Program PX4IO
 				tune_control play -t 16 # tune 16 = PROG_PX4IO
 
-				if px4io start
-				then
-					# Try to safety px4 io so motor outputs don't go crazy.
-					if ! px4io safety_on
-					then
-						# px4io did not respond to the safety command.
-						px4io stop
-					fi
-				fi
-
-				if px4io forceupdate 14662 ${IOFW}
+				if px4io update ${IOFW}
 				then
 					usleep 10000
 					tune_control stop
 					if px4io checkcrc ${IOFW}
 					then
-						echo "PX4IO CRC OK after updating"
 						tune_control play -t 17 # tune 17 = PROG_PX4IO_OK
 						set IO_PRESENT yes
+					else
+						tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
 					fi
 				fi
-
-				if [ $IO_PRESENT = no ]
-				then
-					echo "PX4IO update failed"
-					tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
-				fi
 			fi
 		fi
 	fi