ver add px4io manifest check and update rcS logic

ROMFS/px4fmu_common/init.d/rcS

@@ -274,37 +274,39 @@ else
 		. $FCONFIG
 	fi
 
-	# Check if PX4IO present and update firmware if needed.
-	if [ -f $IOFW ]
+	if ver px4io_present
 	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

src/systemcmds/ver/ver.cpp

@@ -57,7 +57,8 @@ static const char sz_ver_buri_str[]     = "uri";
 static const char sz_ver_gcc_str[] 	= "gcc";
 static const char sz_ver_all_str[] 	= "all";
 static const char mcu_ver_str[]		= "mcu";
-static const char px4_guid_str[]         = "px4guid";
+static const char px4_guid_str[]        = "px4guid";
+static const char px4io_present_str[]   = "px4io_present";
 
 static void usage(const char *reason)
 {
@@ -76,6 +77,7 @@ static void usage(const char *reason)
 	PRINT_MODULE_USAGE_COMMAND_DESCR("bdate", "Build date and time");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("px4guid", "PX4 GUID");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("uri", "Build URI");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("px4io_present", "PX4IO MCU present");
 
 	PRINT_MODULE_USAGE_COMMAND_DESCR("all", "Print all versions");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("hwcmp", "Compare hardware version (returns 0 on match)");
@@ -269,6 +271,18 @@ extern "C" __EXPORT int ver_main(int argc, char *argv[])
 				ret = 0;
 			}
 
+			if (show_all || !strncmp(argv[1], px4io_present_str, sizeof(px4io_present_str))) {
+				bool px4io_supported = PX4_MFT_HW_SUPPORTED(PX4_MFT_PX4IO);
+
+				PX4_INFO_RAW("PX4IO MCU supported: %s\n", px4io_supported ? "YES" : "NO");
+
+				if (!show_all) {
+					return px4io_supported ? 0 : 1;;
+				}
+
+				ret = 0;
+			}
+
 			if (ret == 1) {
 				PX4_ERR("unknown command");
 				return 1;