fixed mutex in hardpoint_controler_set()

src/modules/uavcan/actuators/hardpoint.cpp

@@ -65,8 +65,6 @@ int UavcanHardpointController::init()
 
 void UavcanHardpointController::set_command(uint8_t hardpoint_id, uint16_t command)
 {
-	(void)pthread_mutex_lock(&_node_mutex);
-
 	_cmd.command = command;
 	_cmd.hardpoint_id = hardpoint_id;
 
@@ -81,7 +79,7 @@ void UavcanHardpointController::set_command(uint8_t hardpoint_id, uint16_t comma
 	if (!_timer.isRunning()) {
 		_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / MAX_RATE_HZ));
 	}
-	(void)pthread_mutex_lock(&_node_mutex);
+
 }
 void UavcanHardpointController::periodic_update(const uavcan::TimerEvent &)
 {

src/modules/uavcan/uavcan_main.cpp

@@ -1224,7 +1224,9 @@ void UavcanNode::shrink()
 
 void UavcanNode::hardpoint_controller_set(uint8_t hardpoint_id, uint16_t command)
 {
+	(void)pthread_mutex_lock(&_node_mutex);
 	_hardpoint_controller.set_command(hardpoint_id, command);
+	(void)pthread_mutex_lock(&_node_mutex);
 }
 /*
  * App entry point