From 0c30ee8d37e573701a539461934ccd5f19460c6c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Thu, 23 Jun 2016 21:32:24 +0200 Subject: [PATCH] fix resource leak in attitude_estimator_q_main: unsubscribe topics --- .../attitude_estimator_q/attitude_estimator_q_main.cpp | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp index 90ed78025c..2a6a743661 100644 --- a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp +++ b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp @@ -671,6 +671,13 @@ void AttitudeEstimatorQ::task_main() // orb_publish_auto(ORB_ID(estimator_status), &_est_state_pub, &est, &est_inst, ORB_PRIO_HIGH); } } + + orb_unsubscribe(_sensors_sub); + orb_unsubscribe(_vision_sub); + orb_unsubscribe(_mocap_sub); + orb_unsubscribe(_airspeed_sub); + orb_unsubscribe(_params_sub); + orb_unsubscribe(_global_pos_sub); } void AttitudeEstimatorQ::update_parameters(bool force)