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mixer_module: reject mixer load and reset when dynamic mixing is enabled

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This commit is contained in:
Daniel Agar
2021-10-21 11:27:33 -07:00
committed by Julian Oes
parent f1016dc32c
commit 6fb1c79ef0
1 changed files with 10 additions and 0 deletions
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src/lib/mixer_module/mixer_module.cpp
+10
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@@ -1067,6 +1067,11 @@ void MixingOutput::handleCommands()
void MixingOutput::resetMixerThreadSafe()
{
if (_use_dynamic_mixing) {
PX4_ERR("mixer reset unavailable, not using static mixers");
return;
}
if ((Command::Type)_command.command.load() != Command::Type::None) {
// Cannot happen, because we expect only one other thread to call this.
// But as a safety precaution we return here.
@@ -1091,6 +1096,11 @@ void MixingOutput::resetMixerThreadSafe()
int MixingOutput::loadMixerThreadSafe(const char *buf, unsigned len)
{
if (_use_dynamic_mixing) {
PX4_ERR("mixer load unavailable, not using static mixers");
return -1;
}
if ((Command::Type)_command.command.load() != Command::Type::None) {
// Cannot happen, because we expect only one other thread to call this.
// But as a safety precaution we return here.