From 922e3dac2ca2aff01cc8473cfb40034ecd82a16c Mon Sep 17 00:00:00 2001
From: David Sidrane <David.Sidrane@NscDg.com>
Date: Wed, 15 Nov 2023 09:53:40 -0800
Subject: [PATCH 1/2] px4io:Add 'supported' command and uses it in rcS

---
 ROMFS/px4fmu_common/init.d/rcS | 42 ++++++++++++++++++----------------
 src/drivers/px4io/px4io.cpp    |  4 ++++
 2 files changed, 26 insertions(+), 20 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 8a216d8c8a5b..19654d9adf54 100644
--- 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
+			if ! px4io start
+			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
index 3f8d0f89a125..08fee0726ea3 100644
--- 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");

From e3d756cc50db5f77aaccbba7c4f41bcbd914a8fd Mon Sep 17 00:00:00 2001
From: alexklimaj <alex@arkelectron.com>
Date: Fri, 17 Nov 2023 09:13:39 -0700
Subject: [PATCH 2/2] px4io: change not supported message to INFO instead of
 ERR

---
 src/drivers/px4io/px4io.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 08fee0726ea3..9673acd96d16 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1765,7 +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);