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mavlink: properly cleanup instance on exit

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This commit is contained in:
Daniel Agar
2021-06-07 09:05:15 -04:00
parent 9f87702074
commit 328c5cb1cf
2 changed files with 7 additions and 1 deletions
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src/modules/mavlink/mavlink_main.cpp
+6
View File
@@ -147,6 +147,10 @@ Mavlink::~Mavlink()
} while (_task_running); } while (_task_running);
} }
if (_instance_id >= 0) {
mavlink_module_instances[_instance_id] = nullptr;
}
perf_free(_loop_perf); perf_free(_loop_perf);
perf_free(_loop_interval_perf); perf_free(_loop_interval_perf);
perf_free(_send_byte_error_perf); perf_free(_send_byte_error_perf);
@@ -2546,6 +2550,8 @@ Mavlink::task_main(int argc, char *argv[])
pthread_mutex_destroy(&_send_mutex); pthread_mutex_destroy(&_send_mutex);
_task_running = false;
PX4_INFO("exiting channel %i", (int)_channel); PX4_INFO("exiting channel %i", (int)_channel);
return OK; return OK;
src/modules/mavlink/mavlink_main.h
+1 -1
View File
@@ -529,7 +529,7 @@ public:
private: private:
MavlinkReceiver _receiver; MavlinkReceiver _receiver;
int _instance_id{0}; int _instance_id{-1};
bool _transmitting_enabled{true}; bool _transmitting_enabled{true};
bool _transmitting_enabled_commanded{false}; bool _transmitting_enabled_commanded{false};