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Mavlink receiver unadvertise all 

uorb multi pubs in destructor
This commit is contained in:
alexklimaj 2023-05-23 15:14:46 -06:00 committed by Daniel Agar
parent c903288f4c
commit dc99a875c3
2 changed files with 11 additions and 1 deletions
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10
src/modules/mavlink/mavlink_receiver.cpp
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@ -78,6 +78,16 @@ MavlinkReceiver::~MavlinkReceiver()
#if !defined(CONSTRAINED_FLASH)
delete[] _received_msg_stats;
#endif // !CONSTRAINED_FLASH
_distance_sensor_pub.unadvertise();
_gps_inject_data_pub.unadvertise();
_rc_pub.unadvertise();
_manual_control_input_pub.unadvertise();
_ping_pub.unadvertise();
_radio_status_pub.unadvertise();
_sensor_baro_pub.unadvertise();
_sensor_gps_pub.unadvertise();
_sensor_optical_flow_pub.unadvertise();
}
static constexpr vehicle_odometry_s vehicle_odometry_empty {

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

@ -335,7 +335,7 @@ private:
uORB::PublicationMulti<radio_status_s> _radio_status_pub{ORB_ID(radio_status)};
uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
uORB::PublicationMulti<sensor_gps_s> _sensor_gps_pub{ORB_ID(sensor_gps)};
uORB::PublicationMulti<sensor_optical_flow_s> _sensor_optical_flow_pub{ORB_ID(sensor_optical_flow)};
uORB::PublicationMulti<sensor_optical_flow_s> _sensor_optical_flow_pub{ORB_ID(sensor_optical_flow)};
// ORB publications (queue length > 1)
uORB::Publication<transponder_report_s> _transponder_report_pub{ORB_ID(transponder_report)};