delete lib/mixer and mixer_module static mixing

src/drivers/tap_esc/CMakeLists.txt

@@ -45,7 +45,6 @@ px4_add_module(
 		module.yaml
 	DEPENDS
 		led
-		mixer
 		mixer_module
 		tunes
 	)

src/drivers/tap_esc/TAP_ESC.cpp

@@ -36,7 +36,6 @@
 #include <px4_platform_common/sem.hpp>
 
 TAP_ESC::TAP_ESC(char const *const device, uint8_t channels_count):
-	CDev(TAP_ESC_DEVICE_PATH),
 	OutputModuleInterface(MODULE_NAME, px4::serial_port_to_wq(device)),
 	_mixing_output{"TAP_ESC", channels_count, *this, MixingOutput::SchedulingPolicy::Auto, true},
 	_channels_count(channels_count)
@@ -154,8 +153,7 @@ int TAP_ESC::init()
 		usleep(2000);
 	}
 
-	/* do regular cdev init */
-	return CDev::init();
+	return 0;
 }
 
 void TAP_ESC::send_esc_outputs(const uint16_t *pwm, const uint8_t motor_cnt)
@@ -337,8 +335,6 @@ void TAP_ESC::Run()
 		return;
 	}
 
-	SmartLock lock_guard(_lock);
-
 	// push backup schedule
 	ScheduleDelayed(20_ms);
 

src/drivers/tap_esc/TAP_ESC.hpp

@@ -52,7 +52,6 @@
 #include <lib/drivers/device/device.h>
 #include <lib/mixer_module/mixer_module.hpp>
 #include <lib/mathlib/mathlib.h>
-#include <lib/cdev/CDev.hpp>
 #include <lib/led/led.h>
 #include <lib/tunes/tunes.h>
 
@@ -80,7 +79,7 @@ using namespace time_literals;
 /*
  * This driver connects to TAP ESCs via serial.
  */
-class TAP_ESC : public cdev::CDev, public ModuleBase<TAP_ESC>, public OutputModuleInterface
+class TAP_ESC : public ModuleBase<TAP_ESC>, public OutputModuleInterface
 {
 public:
 	TAP_ESC(const char *device, uint8_t channels_count);
@@ -98,7 +97,7 @@ public:
 	/** @see ModuleBase::print_status() */
 	int print_status() override;
 
-	int init() override;
+	int init();
 
 	bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
 			   unsigned num_outputs, unsigned num_control_groups_updated) override;

src/drivers/tap_esc/drv_tap_esc.h

@@ -37,8 +37,6 @@
 
 #include <stdint.h>
 
-#define TAP_ESC_DEVICE_PATH	"/dev/tap_esc"
-
 /* At the moment the only known use is with a current sensor */
 #define ESC_HAVE_CURRENT_SENSOR