WIP: px4io lobotomy

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -42,7 +42,6 @@ px4_add_romfs_files(
 	rc.fw_apps
 	rc.fw_defaults
 	rc.interface
-	rc.io
 	rc.logging
 	rc.mc_apps
 	rc.mc_defaults

ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo

@@ -49,7 +49,6 @@ param set-default CBRK_IO_SAFETY    22027
 param set-default CBRK_SUPPLY_CHK   894281
 
 # RC configuration
-param set-default RC_MAP_MODE_SW    5
 param set-default RC_MAP_PITCH      2
 param set-default RC_MAP_ROLL       1
 param set-default RC_MAP_THROTTLE   3

ROMFS/px4fmu_common/init.d/rc.interface

@@ -93,19 +93,15 @@ then
 		fi
 	fi
 
-	if [ $OUTPUT_MODE = io ]
-	then
-		. ${R}etc/init.d/rc.io
-	fi
-
 	#
 	# Start IO for RC input if needed.
 	#
-	if [ $IO_PRESENT = yes ]
+	if [ $IO_PRESENT = yes -a $OUTPUT_MODE = io ]
 	then
-		if [ $OUTPUT_MODE != io ]
+		if ! px4io start
 		then
-			. ${R}etc/init.d/rc.io
+			echo "PX4IO start failed"
+			tune_control play -t 18 # PROG_PX4IO_ERR
 		fi
 	fi
 fi

ROMFS/px4fmu_common/init.d/rc.io

@@ -1,23 +0,0 @@
-#!/bin/sh
-#
-# PX4IO interface init script.
-#
-
-# If $OUTPUT_MODE indicated Hardware-int-the-loop simulation, px4io should not publish actuator_outputs,
-# instead, pwm_out_sim will publish that uORB
-if [ $OUTPUT_MODE = hil ]
-then
-    set HIL_ARG $OUTPUT_MODE
-fi
-
-if [ $IO_PRESENT = yes ]
-then
-	if px4io start $HIL_ARG
-	then
-		# Allow PX4IO to recover from midair restarts.
-		px4io recovery
-	else
-		echo "PX4IO start failed"
-		tune_control play -t 18 # PROG_PX4IO_ERR
-	fi
-fi