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heater: fix resource leak

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This commit is contained in:
Beat Küng
2018-09-06 12:20:08 +02:00
parent 615348189e
commit c5b954dacc
1 changed files with 11 additions and 2 deletions
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src/drivers/heater/heater.cpp
+11 -2
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@@ -73,7 +73,10 @@ Heater::~Heater()
// Unsubscribe from uORB topics. // Unsubscribe from uORB topics.
orb_unsubscribe(_params_sub); orb_unsubscribe(_params_sub);
orb_unsubscribe(_sensor_accel_sub);
if (_sensor_accel_sub >= 0) {
orb_unsubscribe(_sensor_accel_sub);
}
} }
int Heater::controller_period(char *argv[]) int Heater::controller_period(char *argv[])
@@ -238,6 +241,10 @@ void Heater::initialize_topics()
for (size_t x = 0; x < number_of_imus; x++) { for (size_t x = 0; x < number_of_imus; x++) {
_sensor_accel_sub = orb_subscribe_multi(ORB_ID(sensor_accel), (int)x); _sensor_accel_sub = orb_subscribe_multi(ORB_ID(sensor_accel), (int)x);
if (_sensor_accel_sub < 0) {
continue;
}
while (orb_update(ORB_ID(sensor_accel), _sensor_accel_sub, &_sensor_accel) != PX4_OK) { while (orb_update(ORB_ID(sensor_accel), _sensor_accel_sub, &_sensor_accel) != PX4_OK) {
usleep(200000); usleep(200000);
} }
@@ -247,6 +254,8 @@ void Heater::initialize_topics()
PX4_INFO("IMU sensor identified."); PX4_INFO("IMU sensor identified.");
break; break;
} }
orb_unsubscribe(_sensor_accel_sub);
} }
PX4_INFO("Device ID: %d", _sensor_accel.device_id); PX4_INFO("Device ID: %d", _sensor_accel.device_id);
@@ -430,4 +439,4 @@ void Heater::update_params(const bool force)
int heater_main(int argc, char *argv[]) int heater_main(int argc, char *argv[])
{ {
return Heater::main(argc, argv); return Heater::main(argc, argv);
} }