From dd69427cbfb47bcab10d64055faf3e8d2d4e4930 Mon Sep 17 00:00:00 2001
From: David Sidrane <david_s5@nscdg.com>
Date: Fri, 10 Aug 2018 12:54:18 -0700
Subject: [PATCH] rc.io:Add USE_IO == yes && IO_PRESENT == yes test

  On a FMU without a px4io (FMUv4, NXPhlite etc), this code should
  not be run.
---
 ROMFS/px4fmu_common/init.d/rc.io | 22 ++++++++++++----------
 1 file changed, 12 insertions(+), 10 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/rc.io b/ROMFS/px4fmu_common/init.d/rc.io
index 54948b697d..454d1a0f8d 100644
--- a/ROMFS/px4fmu_common/init.d/rc.io
+++ b/ROMFS/px4fmu_common/init.d/rc.io
@@ -2,15 +2,17 @@
 #
 # PX4IO interface init script.
 #
-
-if px4io start
+if [ $USE_IO == yes -a $IO_PRESENT == yes ]
 then
-	# Allow PX4IO to recover from midair restarts.
-	px4io recovery
-
-	# Adjust PX4IO update rate limit.
-	px4io limit 400
-else
-	echo "PX4IO start failed" >> $LOG_FILE
-	tune_control play -m ${TUNE_ERR}
+	if px4io start
+	then
+		# Allow PX4IO to recover from midair restarts.
+		px4io recovery
+	
+		# Adjust PX4IO update rate limit.
+		px4io limit 400
+	else
+		echo "PX4IO start failed" >> $LOG_FILE
+		tune_control play -m ${TUNE_ERR}
+	fi
 fi