Auto-update of IO firmware, shorter preflight check alarm

ROMFS/px4fmu_common/init.d/rcS

@@ -8,6 +8,8 @@
 #
 set MODE autostart
 
+set logfile /fs/microsd/bootlog.txt
+
 #
 # Try to mount the microSD card.
 #
@@ -147,26 +149,49 @@ then
 		nshterm /dev/ttyACM0 &
 	fi
 
-	
 	#
 	# Upgrade PX4IO firmware
 	#
-	if px4io detect
+
+	if [ -f /etc/extras/px4io-v2_default.bin ]
 	then
-		echo "PX4IO running, not upgrading"
+		set io_file /etc/extras/px4io-v2_default.bin
 	else
-		echo "Attempting to upgrade PX4IO"
+		set io_file /etc/extras/px4io-v1_default.bin
-		if px4io update
-		then
-			if [ -d /fs/microsd ]
-			then
-				echo "Flashed PX4IO Firmware OK" > /fs/microsd/px4io.log
 	fi
 
-			# Allow IO to safely kick back to app
+	if px4io start
-			usleep 200000
+	then
+		echo "PX4IO OK"
+		echo "PX4IO OK" >> $logfile
+	fi
+	
+	if px4io checkcrc $io_file
+	then
+		echo "PX4IO CRC OK"
+		echo "PX4IO CRC OK" >> $logfile
 	else
-			echo "No PX4IO to upgrade here"
+		echo "PX4IO CRC failure"
+		echo "PX4IO CRC failure" >> $logfile
+		tone_alarm MBABGP
+		if px4io forceupdate 14662 $io_file
+		then
+			usleep 200000
+			if px4io start
+			then
+				echo "PX4IO restart OK"
+				echo "PX4IO restart OK" >> $logfile
+				tone_alarm MSPAA
+			else
+				echo "PX4IO restart failed"
+				echo "PX4IO restart failed" >> $logfile
+				tone_alarm MNGGG
+				sh /etc/init.d/rc.error
+			fi
+		else
+			echo "PX4IO update failed"
+			echo "PX4IO update failed" >> $logfile
+			tone_alarm MNGGG
 		fi
 	fi
 	

src/drivers/px4io/px4io.cpp

@@ -2229,7 +2229,7 @@ void
 start(int argc, char *argv[])
 {
 	if (g_dev != nullptr)
-		errx(1, "already loaded");
+		errx(0, "already loaded");
 
 	/* allocate the interface */
 	device::Device *interface = get_interface();

src/systemcmds/preflight_check/preflight_check.c

@@ -200,7 +200,7 @@ system_eval:
 		led_toggle(leds, LED_BLUE);
 
 		/* display and sound error */
-		for (int i = 0; i < 50; i++)
+		for (int i = 0; i < 14; i++)
 		{
 			led_toggle(leds, LED_BLUE);
 			led_toggle(leds, LED_AMBER);