delete drv_mixer.h

src/drivers/actuators/modalai_esc/modalai_esc.cpp

@@ -795,57 +795,6 @@ int ModalaiEsc::update_params()
 	return ret;
 }
 
-
-int ModalaiEsc::ioctl(file *filp, int cmd, unsigned long arg)
-{
-	SmartLock lock_guard(_lock);
-
-	int ret = OK;
-
-	PX4_DEBUG("modalai_esc ioctl cmd: %d, arg: %ld", cmd, arg);
-
-	switch (cmd) {
-	case PWM_SERVO_ARM:
-		PX4_INFO("PWM_SERVO_ARM");
-		break;
-
-	case PWM_SERVO_DISARM:
-		PX4_INFO("PWM_SERVO_DISARM");
-		break;
-
-	case MIXERIOCRESET:
-		_mixing_output.resetMixer();
-		break;
-
-	case MIXERIOCLOADBUF: {
-			const char *buf = (const char *)arg;
-			unsigned buflen = strlen(buf);
-			ret = _mixing_output.loadMixer(buf, buflen);
-		}
-		break;
-
-	default:
-		ret = -ENOTTY;
-		break;
-	}
-
-	/* if nobody wants it, let CDev have it */
-	if (ret == -ENOTTY) {
-		ret = CDev::ioctl(filp, cmd, arg);
-	}
-
-	return ret;
-}
-
-/* OutputModuleInterface */
-void ModalaiEsc::mixerChanged()
-{
-	/*
-	 * This driver is only supporting 4 channel ESC
-	 */
-}
-
-
 void ModalaiEsc::updateLeds(vehicle_control_mode_s mode, led_control_s control)
 {
 	int i = 0;

src/drivers/actuators/modalai_esc/modalai_esc.hpp

@@ -34,7 +34,6 @@
 #pragma once
 
 #include <drivers/device/device.h>
-#include <drivers/drv_mixer.h>
 #include <lib/cdev/CDev.hpp>
 #include <lib/led/led.h>
 #include <lib/mixer_module/mixer_module.hpp>
@@ -80,8 +79,6 @@ public:
 	/** @see OutputModuleInterface */
 	void mixerChanged() override;
 
-	virtual int	ioctl(file *filp, int cmd, unsigned long arg);
-
 	virtual int	init();
 
 	typedef enum {

src/drivers/drv_mixer.h

@@ -1,88 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file drv_mixer.h
- *
- * Mixer ioctl interfaces.
- *
- * Normal workflow is:
- *
- * - open mixer device
- * - add mixer(s)
- * loop:
- *  - mix actuators to array
- *
- * Each client has its own configuration.
- *
- * When mixing, outputs are produced by mixers in the order they are
- * added.  A simple mixer produces one output; a multirotor mixer will
- * produce several outputs, etc.
- */
-
-#ifndef _DRV_MIXER_H
-#define _DRV_MIXER_H
-
-#include <px4_platform_common/defines.h>
-#include <stdint.h>
-#include <sys/ioctl.h>
-
-#define MIXER0_DEVICE_PATH		"/dev/mixer0"
-
-/*
- * ioctl() definitions
- */
-#define _MIXERIOCBASE		(0x2500)
-#define _MIXERIOC(_n)		(_PX4_IOC(_MIXERIOCBASE, _n))
-
-/* _MIXERIOC(0) was deprecated */
-
-/** reset (clear) the mixer configuration */
-#define MIXERIOCRESET		_MIXERIOC(1)
-
-/* _MIXERIOC(3) was deprecated */
-/* _MIXERIOC(4) was deprecated */
-
-/**
- * Add mixer(s) from the buffer in (const char *)arg
- */
-#define MIXERIOCLOADBUF		_MIXERIOC(5)
-
-/*
- * XXX Thoughts for additional operations:
- *
- * - get/set output scale, for tuning center/limit values.
- * - save/serialise for saving tuned mixers.
- */
-
-#endif /* _DRV_MIXER_H */

src/drivers/dshot/DShot.cpp

@@ -41,7 +41,6 @@ char DShot::_telemetry_device[] {};
 px4::atomic_bool DShot::_request_telemetry_init{false};
 
 DShot::DShot() :
-	CDev("/dev/dshot"),
 	OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default)
 {
 	_mixing_output.setAllDisarmedValues(DSHOT_DISARM_VALUE);
@@ -59,32 +58,13 @@ DShot::~DShot()
 	// make sure outputs are off
 	up_dshot_arm(false);
 
-	// clean up the alternate device node
-	unregister_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH, _class_instance);
-
 	perf_free(_cycle_perf);
 	delete _telemetry;
 }
 
 int DShot::init()
 {
-	// do regular cdev init
+	_mixing_output.setDriverInstance(0);
-	int ret = CDev::init();
-
-	if (ret != OK) {
-		return ret;
-	}
-
-	// try to claim the generic PWM output device node as well - it's OK if we fail at this
-	_class_instance = register_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH);
-
-	if (_class_instance == CLASS_DEVICE_PRIMARY) {
-		// lets not be too verbose
-	} else if (_class_instance < 0) {
-		PX4_ERR("FAILED registering class device");
-	}
-
-	_mixing_output.setDriverInstance(_class_instance);
 
 	_output_mask = (1u << _num_outputs) - 1;
 
@@ -486,8 +466,6 @@ void DShot::Run()
 		return;
 	}
 
-	SmartLock lock_guard(_lock);
-
 	perf_begin(_cycle_perf);
 
 	_mixing_output.update();
@@ -645,40 +623,6 @@ void DShot::update_params()
 	}
 }
 
-int DShot::ioctl(file *filp, int cmd, unsigned long arg)
-{
-	SmartLock lock_guard(_lock);
-
-	int ret = OK;
-
-	PX4_DEBUG("dshot ioctl cmd: %d, arg: %ld", cmd, arg);
-
-	switch (cmd) {
-	case MIXERIOCRESET:
-		_mixing_output.resetMixer();
-		break;
-
-	case MIXERIOCLOADBUF: {
-			const char *buf = (const char *)arg;
-			unsigned buflen = strlen(buf);
-			ret = _mixing_output.loadMixer(buf, buflen);
-
-			break;
-		}
-
-	default:
-		ret = -ENOTTY;
-		break;
-	}
-
-	// if nobody wants it, let CDev have it
-	if (ret == -ENOTTY) {
-		ret = CDev::ioctl(filp, cmd, arg);
-	}
-
-	return ret;
-}
-
 int DShot::custom_command(int argc, char *argv[])
 {
 	const char *verb = argv[0];

src/drivers/dshot/DShot.h

@@ -34,7 +34,6 @@
 
 #include <drivers/device/device.h>
 #include <drivers/drv_input_capture.h>
-#include <drivers/drv_mixer.h>
 #include <lib/mixer_module/mixer_module.hpp>
 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/module.h>
@@ -60,7 +59,7 @@ static constexpr int DSHOT_DISARM_VALUE = 0;
 static constexpr int DSHOT_MIN_THROTTLE = 1;
 static constexpr int DSHOT_MAX_THROTTLE = 1999;
 
-class DShot : public cdev::CDev, public ModuleBase<DShot>, public OutputModuleInterface
+class DShot : public ModuleBase<DShot>, public OutputModuleInterface
 {
 public:
 	DShot();
@@ -71,8 +70,6 @@ public:
 
 	virtual int init();
 
-	virtual int ioctl(file *filp, int cmd, unsigned long arg);
-
 	void mixerChanged() override;
 
 	/** @see ModuleBase::print_status() */
@@ -166,8 +163,6 @@ private:
 	static constexpr unsigned _num_outputs{DIRECT_PWM_OUTPUT_CHANNELS};
 	uint32_t _output_mask{0};
 
-	int _class_instance{-1};
-
 	perf_counter_t	_cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
 
 	Command _current_command{};

src/drivers/linux_pwm_out/linux_pwm_out.cpp

@@ -318,39 +318,6 @@ void LinuxPWMOut::update_params()
 	}
 }
 
-int LinuxPWMOut::ioctl(device::file_t *filp, int cmd, unsigned long arg)
-{
-	SmartLock lock_guard(_lock);
-
-	int ret = OK;
-
-	PX4_DEBUG("ioctl cmd: %d, arg: %ld", cmd, arg);
-
-	switch (cmd) {
-	case MIXERIOCRESET:
-		_mixing_output.resetMixer();
-		break;
-
-	case MIXERIOCLOADBUF: {
-			const char *buf = (const char *)arg;
-			unsigned buflen = strlen(buf);
-			ret = _mixing_output.loadMixer(buf, buflen);
-			update_params();
-			break;
-		}
-
-	default:
-		ret = -ENOTTY;
-		break;
-	}
-
-	if (ret == -ENOTTY) {
-		ret = CDev::ioctl(filp, cmd, arg);
-	}
-
-	return ret;
-}
-
 int LinuxPWMOut::custom_command(int argc, char *argv[])
 {
 	return print_usage("unknown command");

src/drivers/linux_pwm_out/linux_pwm_out.hpp

@@ -35,7 +35,6 @@
 
 
 #include <drivers/device/device.h>
-#include <drivers/drv_mixer.h>
 #include <lib/cdev/CDev.hpp>
 #include <lib/mathlib/mathlib.h>
 #include <lib/mixer_module/mixer_module.hpp>

src/drivers/pca9685_pwm_out/main.cpp

@@ -43,7 +43,6 @@
 #include <lib/mixer_module/mixer_module.hpp>
 #include <px4_platform_common/module.h>
 #include <lib/perf/perf_counter.h>
-#include <drivers/drv_mixer.h>
 #include <drivers/drv_hrt.h>
 #include <px4_platform_common/getopt.h>
 
@@ -57,16 +56,14 @@
 using namespace drv_pca9685_pwm;
 using namespace time_literals;
 
-class PCA9685Wrapper : public cdev::CDev, public ModuleBase<PCA9685Wrapper>, public OutputModuleInterface
+class PCA9685Wrapper : public ModuleBase<PCA9685Wrapper>, public OutputModuleInterface
 {
 public:
 
 	PCA9685Wrapper(int schd_rate_limit = 400);
 	~PCA9685Wrapper() override ;
 
-	int init() override;
+	int init();
-
-	int ioctl(cdev::file_t *filep, int cmd, unsigned long arg) override;
 
 	void mixerChanged() override;
 
@@ -121,7 +118,6 @@ protected:
 };
 
 PCA9685Wrapper::PCA9685Wrapper(int schd_rate_limit) :
-	CDev(nullptr),
 	OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default),
 	_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")),
 	_schd_rate_limit(schd_rate_limit)
@@ -146,20 +142,12 @@ PCA9685Wrapper::~PCA9685Wrapper()
 
 int PCA9685Wrapper::init()
 {
-	int ret = CDev::init();
+	int ret = pca9685->init();
 
 	if (ret != PX4_OK) {
 		return ret;
 	}
 
-	ret = pca9685->init();
-
-	if (ret != PX4_OK) {
-		return ret;
-	}
-
-	_class_instance = register_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH);
-
 	this->ChangeWorkQueue(px4::device_bus_to_wq(pca9685->get_device_id()));
 
 	PX4_INFO("running on I2C bus %d address 0x%.2x", pca9685->get_device_bus(), pca9685->get_device_address());
@@ -379,7 +367,6 @@ void PCA9685Wrapper::Run()
 	if (should_exit()) {
 		ScheduleClear();
 		_mixing_output.unregister();
-		unregister_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH, _class_instance);
 
 		pca9685->Stop();
 		delete pca9685;
@@ -389,8 +376,6 @@ void PCA9685Wrapper::Run()
 		return;
 	}
 
-	SmartLock lock_guard(_lock);
-
 	perf_begin(_cycle_perf);
 
 	switch (_state) {
@@ -466,49 +451,6 @@ void PCA9685Wrapper::Run()
 	perf_end(_cycle_perf);
 }
 
-int PCA9685Wrapper::ioctl(cdev::file_t *filep, int cmd, unsigned long arg)
-{
-	SmartLock lock_guard(_lock);
-
-	int ret = OK;
-
-	switch (cmd) {
-	case MIXERIOCRESET:
-		_mixing_output.resetMixer();
-
-		break;
-
-	case MIXERIOCLOADBUF: {
-			const char *buf = (const char *)arg;
-			unsigned buflen = strlen(buf);
-			ret = _mixing_output.loadMixer(buf, buflen);
-
-			break;
-		}
-
-	case PWM_SERVO_GET_COUNT:
-		*(unsigned *)arg = PCA9685_PWM_CHANNEL_COUNT;
-
-		break;
-
-	case PWM_SERVO_SET_ARM_OK:
-	case PWM_SERVO_CLEAR_ARM_OK:
-	case PWM_SERVO_ARM:
-	case PWM_SERVO_DISARM:
-		break;
-
-	default:
-		ret = -ENOTTY;
-		break;
-	}
-
-	if (ret == -ENOTTY) {
-		ret = CDev::ioctl(filep, cmd, arg);
-	}
-
-	return ret;
-}
-
 int PCA9685Wrapper::print_usage(const char *reason)
 {
 	if (reason) {
@@ -550,7 +492,6 @@ int PCA9685Wrapper::print_status() {
             pca9685->get_device_bus(),
             pca9685->get_device_address(),
              (double)(pca9685->getFrequency()));
-    PX4_INFO("CDev path: %s%d", PWM_OUTPUT_BASE_DEVICE_PATH, this->_class_instance);
 
     return ret;
 }
@@ -623,16 +564,17 @@ int PCA9685Wrapper::task_spawn(int argc, char **argv) {
     return PX4_ERROR;
 }
 
-void PCA9685Wrapper::mixerChanged() {
+void PCA9685Wrapper::mixerChanged()
+{
     OutputModuleInterface::mixerChanged();
+
     if (_mixing_output.mixers()) { // only update trims if mixer loaded
         updatePWMParamTrim();
     }
+
     _mixing_output.updateSubscriptions(false);
 }
 
-extern "C" __EXPORT int pca9685_pwm_out_main(int argc, char *argv[]);
+extern "C" __EXPORT int pca9685_pwm_out_main(int argc, char *argv[]){
-
-int pca9685_pwm_out_main(int argc, char *argv[]){
 	return PCA9685Wrapper::main(argc, argv);
 }

src/drivers/pwm_out/PWMOut.cpp

@@ -966,20 +966,6 @@ int PWMOut::pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg)
 		*(unsigned *)arg = _num_outputs;
 		break;
 
-	case MIXERIOCRESET:
-		_mixing_output.resetMixer();
-
-		break;
-
-	case MIXERIOCLOADBUF: {
-			const char *buf = (const char *)arg;
-			unsigned buflen = strlen(buf);
-			ret = _mixing_output.loadMixer(buf, buflen);
-			update_params();
-
-			break;
-		}
-
 	default:
 		ret = -ENOTTY;
 		break;

src/drivers/pwm_out/PWMOut.hpp

@@ -40,7 +40,6 @@
 
 #include <drivers/device/device.h>
 #include <drivers/drv_hrt.h>
-#include <drivers/drv_mixer.h>
 #include <drivers/drv_pwm_output.h>
 #include <lib/cdev/CDev.hpp>
 #include <lib/mathlib/mathlib.h>

src/drivers/px4io/px4io.cpp

@@ -50,7 +50,6 @@
 #include <drivers/device/device.h>
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_io_heater.h>
-#include <drivers/drv_mixer.h>
 #include <drivers/drv_pwm_output.h>
 #include <drivers/drv_sbus.h>
 
@@ -1718,21 +1717,6 @@ int PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 			break;
 		}
 
-	case MIXERIOCRESET:
-		PX4_DEBUG("MIXERIOCRESET");
-		_mixing_output.resetMixer();
-		break;
-
-	case MIXERIOCLOADBUF: {
-			PX4_DEBUG("MIXERIOCLOADBUF");
-
-			const char *buf = (const char *)arg;
-			unsigned buflen = strlen(buf);
-			ret = _mixing_output.loadMixer(buf, buflen);
-
-			break;
-		}
-
 	case PX4IO_SET_DEBUG:
 		PX4_DEBUG("PX4IO_SET_DEBUG");
 

src/drivers/tap_esc/TAP_ESC.cpp

@@ -413,33 +413,6 @@ void TAP_ESC::Run()
 	perf_end(_cycle_perf);
 }
 
-int TAP_ESC::ioctl(device::file_t *filp, int cmd, unsigned long arg)
-{
-	SmartLock lock_guard(_lock);
-
-	int ret = OK;
-
-	switch (cmd) {
-	case MIXERIOCRESET:
-		_mixing_output.resetMixer();
-		break;
-
-	case MIXERIOCLOADBUF: {
-			const char *buf = (const char *)arg;
-			unsigned buflen = strlen(buf);
-			ret = _mixing_output.loadMixer(buf, buflen);
-			break;
-		}
-
-
-	default:
-		ret = -ENOTTY;
-		break;
-	}
-
-	return ret;
-}
-
 int TAP_ESC::task_spawn(int argc, char *argv[])
 {
 	/* Parse arguments */

src/drivers/tap_esc/TAP_ESC.hpp

@@ -62,7 +62,6 @@
 #include <uORB/topics/led_control.h>
 
 #include <drivers/drv_hrt.h>
-#include <drivers/drv_mixer.h>
 
 #include "tap_esc_common.h"
 
@@ -100,7 +99,6 @@ public:
 	int print_status() override;
 
 	int init() override;
-	int ioctl(device::file_t *filp, int cmd, unsigned long arg) override;
 
 	bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
 			   unsigned num_outputs, unsigned num_control_groups_updated) override;

src/drivers/uavcan/uavcan_main.cpp

@@ -58,7 +58,6 @@
 #include <uORB/topics/esc_status.h>
 
 #include <drivers/drv_hrt.h>
-#include <drivers/drv_mixer.h>
 #include <drivers/drv_pwm_output.h>
 
 #include "uavcan_module.hpp"
@@ -941,44 +940,6 @@ UavcanNode::enable_idle_throttle_when_armed(bool value)
 	}
 }
 
-int
-UavcanNode::ioctl(file *filp, int cmd, unsigned long arg)
-{
-	int ret = OK;
-
-	pthread_mutex_lock(&_node_mutex);
-
-	switch (cmd) {
-	case PWM_SERVO_SET_ARM_OK:
-	case PWM_SERVO_CLEAR_ARM_OK:
-		break;
-
-	case MIXERIOCRESET:
-		_mixing_interface_esc.mixingOutput().resetMixer();
-
-		break;
-
-	case MIXERIOCLOADBUF: {
-			const char *buf = (const char *)arg;
-			unsigned buflen = strlen(buf);
-			ret = _mixing_interface_esc.mixingOutput().loadMixer(buf, buflen);
-		}
-		break;
-
-	default:
-		ret = -ENOTTY;
-		break;
-	}
-
-	pthread_mutex_unlock(&_node_mutex);
-
-	if (ret == -ENOTTY) {
-		ret = CDev::ioctl(filp, cmd, arg);
-	}
-
-	return ret;
-}
-
 bool UavcanMixingInterfaceESC::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
 		unsigned num_control_groups_updated)
 {
@@ -998,18 +959,11 @@ void UavcanMixingInterfaceESC::mixerChanged()
 {
 	int rotor_count = 0;
 
-	if (_mixing_output.useDynamicMixing()) {
+	for (unsigned i = 0; i < MAX_ACTUATORS; ++i) {
-		for (unsigned i = 0; i < MAX_ACTUATORS; ++i) {
+		rotor_count += _mixing_output.isFunctionSet(i);
-			rotor_count += _mixing_output.isFunctionSet(i);
 
-			if (i < esc_status_s::CONNECTED_ESC_MAX) {
+		if (i < esc_status_s::CONNECTED_ESC_MAX) {
-				_esc_controller.esc_status().esc[i].actuator_function = (uint8_t)_mixing_output.outputFunction(i);
+			_esc_controller.esc_status().esc[i].actuator_function = (uint8_t)_mixing_output.outputFunction(i);
-			}
-		}
-
-	} else {
-		if (_mixing_output.mixers()) {
-			rotor_count = _mixing_output.mixers()->get_multirotor_count();
 		}
 	}
 

src/drivers/uavcan/uavcan_main.hpp

@@ -178,8 +178,6 @@ public:
 
 	virtual		~UavcanNode();
 
-	virtual int	ioctl(file *filp, int cmd, unsigned long arg);
-
 	static int	start(uavcan::NodeID node_id, uint32_t bitrate);
 
 	uavcan::Node<>	&get_node() { return _node; }

src/drivers/uavcan/uavcan_module.hpp

@@ -63,9 +63,5 @@
 #define UAVCAN_DEVICE_PATH     "/dev/uavcan/esc"
 #define UAVCAN_ESC_DEVICE_PATH "/dev/uavcan/esc"
 
-// ioctl interface
-#define _UAVCAN_IOC(_n)               (_IOC(_UAVCAN_IOCBASE, _n))
-#define _UAVCAN_IOCBASE               (0x4000)                        // IOCTL base for module UAVCAN
-
 // public prototypes
 extern "C" __EXPORT int uavcan_main(int argc, char *argv[]);

src/lib/mixer_module/mixer_module.cpp

@@ -1204,43 +1204,3 @@ int MixingOutput::controlCallback(uintptr_t handle, uint8_t control_group, uint8
 
 	return 0;
 }
-
-void MixingOutput::resetMixer()
-{
-	if (_mixers != nullptr) {
-		delete _mixers;
-		_mixers = nullptr;
-		_groups_required = 0;
-	}
-
-	_interface.mixerChanged();
-}
-
-int MixingOutput::loadMixer(const char *buf, unsigned len)
-{
-	if (_mixers == nullptr) {
-		_mixers = new MixerGroup();
-	}
-
-	if (_mixers == nullptr) {
-		_groups_required = 0;
-		return -ENOMEM;
-	}
-
-	int ret = _mixers->load_from_buf(controlCallback, (uintptr_t)this, buf, len);
-
-	if (ret != 0) {
-		PX4_ERR("mixer load failed with %d", ret);
-		delete _mixers;
-		_mixers = nullptr;
-		_groups_required = 0;
-		return ret;
-	}
-
-	_mixers->groups_required(_groups_required);
-	PX4_DEBUG("loaded mixers \n%s\n", buf);
-
-	updateParams();
-	_interface.mixerChanged();
-	return ret;
-}

src/lib/mixer_module/mixer_module.hpp

@@ -165,17 +165,6 @@ public:
 
 	void setMaxTopicUpdateRate(unsigned max_topic_update_interval_us);
 
-	/**
-	 * Reset (unload) the complete mixer.
-	 */
-	void resetMixer();
-
-	/**
-	 * Load (append) a new mixer from a buffer.
-	 * @return 0 on success, <0 error otherwise
-	 */
-	int loadMixer(const char *buf, unsigned len);
-
 	const actuator_armed_s &armed() const { return _armed; }
 
 	bool initialized() const { return _use_dynamic_mixing || _mixers != nullptr; }

src/modules/simulation/pwm_out_sim/PWMSim.cpp

@@ -234,17 +234,6 @@ PWMSim::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 		*(unsigned *)arg = OutputModuleInterface::MAX_ACTUATORS;
 		break;
 
-	case MIXERIOCRESET:
-		_mixing_output.resetMixer();
-		break;
-
-	case MIXERIOCLOADBUF: {
-			const char *buf = (const char *)arg;
-			unsigned buflen = strlen(buf);
-			ret = _mixing_output.loadMixer(buf, buflen);
-			break;
-		}
-
 	default:
 		ret = -ENOTTY;
 		break;

src/modules/simulation/pwm_out_sim/PWMSim.hpp

@@ -35,7 +35,6 @@
 
 #include <drivers/device/device.h>
 #include <drivers/drv_hrt.h>
-#include <drivers/drv_mixer.h>
 #include <drivers/drv_pwm_output.h>
 #include <lib/mixer_module/mixer_module.hpp>
 #include <px4_platform_common/px4_config.h>