ARK v6x tracking PX4#22527

ryanjAA · Jul 3, 2024 · ce79d46 · ce79d46
1 parent a131ec3
commit ce79d46
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Showing 2 changed files with 26 additions and 20 deletions.
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
@@ -266,37 +266,39 @@ else
 		. $FCONFIG
 	fi
 
-	# Check if PX4IO present and update firmware if needed.
-	if [ -f $IOFW ]
+	if px4io supported
 	then
-		if ! px4io checkcrc ${IOFW}
+		# Check if PX4IO present and update firmware if needed.
+ 		if [ -f $IOFW ]
 		then
-			# tune Program PX4IO
-			tune_control play -t 16 # tune 16 = PROG_PX4IO
-
-			if px4io update ${IOFW}
+			if ! px4io checkcrc ${IOFW}
 			then
-				usleep 10000
-				tune_control stop
-				if px4io checkcrc ${IOFW}
+				# tune Program PX4IO
+ 				tune_control play -t 16 # tune 16 = PROG_PX4IO
+
+ 				if px4io update ${IOFW}
 				then
-					tune_control play -t 17 # tune 17 = PROG_PX4IO_OK
+					usleep 10000
+ 					tune_control stop
+ 					if px4io checkcrc ${IOFW}
+ 					then
+ 						tune_control play -t 17 # tune 17 = PROG_PX4IO_OK
+ 					else
+ 						tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
+ 					fi
 				else
-					tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
+					tune_control stop
 				fi
-			else
-				tune_control stop
-			fi
 		fi
 
 		if ! px4io start
-		then
-			echo "PX4IO start failed"
-			set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
+ 			then
+ 				echo "PX4IO start failed"
+ 				set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
+ 			fi
 		fi
 	fi
 
-
 	#
 	# RC update (map raw RC input to calibrate manual control)
 	#  start before commander

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
@@ -1556,6 +1556,10 @@ int PX4IO::custom_command(int argc, char *argv[])
 {
 	const char *verb = argv[0];
 
+	if (!strcmp(verb, "supported")) {
+ 		return 0;
+ 	}
+
 	if (!strcmp(verb, "checkcrc")) {
 		if (is_running()) {
 			PX4_ERR("io must be stopped");
@@ -1761,7 +1765,7 @@ Output driver communicating with the IO co-processor.
 extern "C" __EXPORT int px4io_main(int argc, char *argv[])
 {
 	if (!PX4_MFT_HW_SUPPORTED(PX4_MFT_PX4IO)) {
-		PX4_ERR("PX4IO Not Supported");
+		PX4_INFO("PX4IO Not Supported");
 		return -1;
 	}
 	return PX4IO::main(argc, argv);