From eb28aa6cfe3450b0ea7454ef193f58f62c798e72 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sat, 14 Feb 2015 20:33:20 +0100
Subject: Auto-update IO also when safety off

---
 ROMFS/px4fmu_common/init.d/rcS | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

(limited to 'ROMFS/px4fmu_common')

diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 1663a2ab3..8b26bbe7a 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -23,6 +23,7 @@ set TUNE_ERR ML<<CP4CP4CP4CP4CP4
 #
 # Try to mount the microSD card.
 #
+# REBOOTWORK this needs to start after the flight control loop
 echo "[i] Looking for microSD..."
 if mount -t vfat /dev/mmcsd0 /fs/microsd
 then
@@ -51,6 +52,7 @@ unset FRC
 if [ $MODE == autostart ]
 then
 	# Try to get an USB console
+	# REBOOTWORK this needs to start after the flight control loop
 	nshterm /dev/ttyACM0 &
 
 	#
@@ -186,7 +188,7 @@ then
 			set IO_FILE /etc/extras/px4io-v1_default.bin
 		fi
 
-		if px4io checkcrc $IO_FILE
+		if px4io checkcrc ${IO_FILE}
 		then
 			echo "PX4IO CRC OK" >> $LOG_FILE
 
@@ -196,7 +198,10 @@ then
 
 			tone_alarm MLL32CP8MB
 
-			if px4io forceupdate 14662 $IO_FILE
+			px4io start
+			px4io safety_on
+
+			if px4io forceupdate 14662 ${IO_FILE}
 			then
 				usleep 500000
 				if px4io checkcrc $IO_FILE
@@ -265,6 +270,7 @@ then
 	unset HIL
 
 	# waypoint storage
+	# REBOOTWORK this needs to start in parallel
 	if dataman start
 	then
 	fi
-- 
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