mixer_module: create MixingOutput library and use in fmu

This should be a pure refactoring, no functional change.
PX4 · Aug 31, 2019 · d3fb610 · d3fb610
1 parent 0ec6e79
commit d3fb610
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Showing 9 changed files with 822 additions and 439 deletions.
diff --git a/platforms/common/include/px4_platform_common/px4_work_queue/WorkItem.hpp b/platforms/common/include/px4_platform_common/px4_work_queue/WorkItem.hpp
@@ -57,6 +57,15 @@ class WorkItem : public IntrusiveQueueNode<WorkItem *>
 
 	virtual void Run() = 0;
 
+	/**
+	 * Switch to a different WorkQueue.
+	 * NOTE: Caller is responsible for synchronization.
+	 *
+	 * @param config The WorkQueue configuration (see WorkQueueManager.hpp).
+	 * @return true if initialization was successful
+	 */
+	bool ChangeWorkQeue(const wq_config_t &config) { return Init(config); }
+
 protected:
 
 	/**

diff --git a/src/drivers/px4fmu/CMakeLists.txt b/src/drivers/px4fmu/CMakeLists.txt
@@ -40,5 +40,6 @@ px4_add_module(
 		arch_io_pins
 		circuit_breaker
 		mixer
+		mixer_module
 		pwm_limit
 	)