Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_GPS_PX4: unsubscribe on driver destruction.

This commit is contained in:
Holger Steinhaus 2016-11-06 11:27:50 +01:00 committed by Lucas De Marchi
parent ae8aea482f
commit 5b66062f85
2 changed files with 6 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
libraries/AP_GPS/AP_GPS_PX4.cpp
View File

@ -37,6 +37,11 @@ AP_GPS_PX4::AP_GPS_PX4(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriv
_gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
}
AP_GPS_PX4::~AP_GPS_PX4()
{
orb_unsubscribe(_gps_sub);
}
const uint64_t MS_PER_WEEK = ((uint64_t)7)*24*3600*1000;
const uint64_t DELTA_POSIX_GPS_EPOCH = ((uint64_t)3657)*24*3600*1000;

1
libraries/AP_GPS/AP_GPS_PX4.h
View File

@ -30,6 +30,7 @@
class AP_GPS_PX4 : public AP_GPS_Backend {
public:
AP_GPS_PX4(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port);
~AP_GPS_PX4();
bool read();