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ROMFS: fix SYS_USE_IO==0

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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 19:03:33 +02:00
committed by Lorenz Meier
parent ae75ff6c72
commit 77cea8844f
2 changed files with 45 additions and 43 deletions
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ROMFS/px4fmu_common/init.d/rc.interface
+5
View File
@@ -125,6 +125,11 @@ then
set MIXER_AUX none set MIXER_AUX none
fi fi
if [ $USE_IO == no ]
then
set MIXER_AUX none
fi
if [ $MIXER_AUX != none -a $AUX_MODE != none ] if [ $MIXER_AUX != none -a $AUX_MODE != none ]
then then
# #
ROMFS/px4fmu_common/init.d/rcS
+40 -43
View File
@@ -321,60 +321,57 @@ then
set IO_PRESENT no 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 then
# set IO_FILE /etc/extras/px4io-v2.bin
# Check if PX4IO present and update firmware if needed
# if px4io checkcrc ${IO_FILE}
if [ -f /etc/extras/px4io-v2.bin ]
then 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 then
set IO_PRESENT yes # try to safe px4 io so motor outputs dont go crazy
else if px4io safety_on
tone_alarm MLL32CP8MB
if px4io start
then then
# try to safe px4 io so motor outputs dont go crazy # success! no-op
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
else else
echo "PX4IO update failed" >> $LOG_FILE # px4io did not respond to the safety command
tune_control play -m ${TUNE_ERR} px4io stop
fi fi
fi fi
fi
unset IO_FILE
if [ $IO_PRESENT == no ] if px4io forceupdate 14662 ${IO_FILE}
then then
echo "PX4IO not found" >> $LOG_FILE usleep 10000
tune_control play -m ${TUNE_ERR} 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
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 # Set default output if not set