From e55f1bc66db6f7a3df66b6667ff60fff15365634 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Wed, 4 Mar 2015 09:04:01 +0100
Subject: [PATCH] Fix IO update when safety can not be set to on. From
 @zottgrammes

Conflicts:
	ROMFS/px4fmu_common/init.d/rcS
---
 ROMFS/px4fmu_common/init.d/rcS | 13 +++++++++++--
 1 file changed, 11 insertions(+), 2 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 580043a1d4..816b1152fe 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -198,8 +198,17 @@ then
 
 			tone_alarm MLL32CP8MB
 
-			px4io start
-			px4io safety_on
+			if px4io start
+			then
+				# try to safe px4 io so motor outputs dont go crazy
+				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