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mavlink: fix pthread usage

This commit is contained in:
Julian Oes 2021-04-21 18:53:18 +02:00 committed by Daniel Agar
parent 5784f1d951
commit aa0752ad86
2 changed files with 3 additions and 3 deletions
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4
src/modules/mavlink/mavlink_receiver.cpp
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@ -3184,7 +3184,7 @@ void MavlinkReceiver::start()
pthread_attr_setstacksize(&receiveloop_attr, pthread_attr_setstacksize(&receiveloop_attr,
PX4_STACK_ADJUSTED(sizeof(MavlinkReceiver) + 2840 + MAVLINK_RECEIVER_NET_ADDED_STACK)); PX4_STACK_ADJUSTED(sizeof(MavlinkReceiver) + 2840 + MAVLINK_RECEIVER_NET_ADDED_STACK));
pthread_create(_thread, &receiveloop_attr, MavlinkReceiver::start_trampoline, this); pthread_create(&_thread, &receiveloop_attr, MavlinkReceiver::start_trampoline, (void *)this);
pthread_attr_destroy(&receiveloop_attr); pthread_attr_destroy(&receiveloop_attr);
} }
@ -3199,5 +3199,5 @@ void *MavlinkReceiver::start_trampoline(void *context)
void MavlinkReceiver::stop() void MavlinkReceiver::stop()
{ {
_should_exit.store(true); _should_exit.store(true);
pthread_join(*_thread, nullptr); pthread_join(_thread, nullptr);
} }

2
src/modules/mavlink/mavlink_receiver.h
View File

@ -226,7 +226,7 @@ private:
void update_rx_stats(const mavlink_message_t &message); void update_rx_stats(const mavlink_message_t &message);
px4::atomic_bool _should_exit{false}; px4::atomic_bool _should_exit{false};
pthread_t *_thread {}; pthread_t _thread {};
Mavlink *_mavlink; Mavlink *_mavlink;