From 74a8d897b2eb4dd2b8e6b1626608cbe8c4d9d295 Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Fri, 4 Apr 2025 16:45:50 +1300
Subject: [PATCH] ROMFS: start heater after px4io

Otherwise the device is not available when we start the heater.
---
 ROMFS/px4fmu_common/init.d/rc.sensors | 6 ------
 ROMFS/px4fmu_common/init.d/rcS        | 8 ++++++++
 2 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 538e331990..565b7958dc 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -71,12 +71,6 @@ then
 fi
 
 
-# Heater driver for temperature regulated IMUs.
-if param compare -s SENS_EN_THERMAL 1
-then
-	heater start
-fi
-
 # Teraranger one tof sensor
 if param greater -s SENS_EN_TRANGER 0
 then
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 9131f83e96..f182d31eff 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -404,6 +404,14 @@ else
 		fi
 	fi
 
+	# Heater driver for temperature regulated IMUs.
+	# The heater needs to start after px4io.
+	if param compare -s SENS_EN_THERMAL 1
+	then
+		heater start
+	fi
+
+
 	#
 	# RC update (map raw RC input to calibrate manual control)
 	#  start before commander