From e11d26881895d7d6e3814dac5aa325ec121981fc Mon Sep 17 00:00:00 2001
From: Lucas De Marchi <lucas.de.marchi@gmail.com>
Date: Tue, 10 Jul 2018 15:07:00 -0700
Subject: [PATCH] AP_HAL_Linux: Thread: allow loose running thread

---
 libraries/AP_HAL_Linux/Thread.cpp | 4 ++++
 libraries/AP_HAL_Linux/Thread.h   | 3 +++
 2 files changed, 7 insertions(+)

diff --git a/libraries/AP_HAL_Linux/Thread.cpp b/libraries/AP_HAL_Linux/Thread.cpp
index 3350372a8c..91fcfcbbb4 100644
--- a/libraries/AP_HAL_Linux/Thread.cpp
+++ b/libraries/AP_HAL_Linux/Thread.cpp
@@ -40,6 +40,10 @@ void *Thread::_run_trampoline(void *arg)
     thread->_poison_stack();
     thread->_run();
 
+    if (thread->_auto_free) {
+        delete thread;
+    }
+
     return nullptr;
 }
 
diff --git a/libraries/AP_HAL_Linux/Thread.h b/libraries/AP_HAL_Linux/Thread.h
index 36995dbe0b..6652d24466 100644
--- a/libraries/AP_HAL_Linux/Thread.h
+++ b/libraries/AP_HAL_Linux/Thread.h
@@ -45,6 +45,8 @@ public:
 
     bool set_stack_size(size_t stack_size);
 
+    void set_auto_free(bool auto_free) { _auto_free = auto_free; }
+
     virtual bool stop() { return false; }
 
     bool join();
@@ -64,6 +66,7 @@ protected:
     task_t _task;
     bool _started = false;
     bool _should_exit = false;
+    bool _auto_free = false;
     pthread_t _ctx = 0;
 
     struct stack_debug {