AP_Vehicle: wipe iofirmware before serialmanager is iomcu is disabled

ArduPilot · Jan 30, 2025 · d8a852b · d8a852b
1 parent 027a364
commit d8a852b
Showing 1 changed file with 9 additions and 0 deletions.
diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -356,6 +356,15 @@ void AP_Vehicle::setup()
 #endif
 
 #if AP_SERIALMANAGER_ENABLED
+#if HAL_WITH_IO_MCU && (HAL_UART_IOMCU_IDX < HAL_UART_NUM_SERIAL_PORTS)
+    if (BoardConfig.io_enabled()) {
+        // If IO is enabled, we need to set the protocol to None
+        // as the IO MCU UART is handled by the AP_IOMCU class
+        serial_manager.set_protocol_and_baud(HAL_UART_IOMCU_IDX, AP_SerialManager::SerialProtocol_None, 0);
+    } else {
+        iomcu.wipe();
+    }
+#endif
     // initialise serial ports
     serial_manager.init();
 #endif