Fixed bug with fd leak in rc_calibration_check

src/modules/commander/commander.cpp

@@ -687,7 +687,7 @@ int commander_thread_main(int argc, char *argv[])
 
 	bool updated = false;
 
-	bool rc_calibration_ok = (OK == rc_calibration_check());
+	bool rc_calibration_ok = (OK == rc_calibration_check(mavlink_fd));
 
 	/* Subscribe to safety topic */
 	int safety_sub = orb_subscribe(ORB_ID(safety));
@@ -802,7 +802,7 @@ int commander_thread_main(int argc, char *argv[])
 				status_changed = true;
 
 				/* re-check RC calibration */
-				rc_calibration_ok = (OK == rc_calibration_check());
+				rc_calibration_ok = (OK == rc_calibration_check(mavlink_fd));
 
 				/* navigation parameters */
 				param_get(_param_takeoff_alt, &takeoff_alt);

src/modules/systemlib/rc_check.c

@@ -47,14 +47,12 @@
 #include <mavlink/mavlink_log.h>
 #include <uORB/topics/rc_channels.h>
 
-int rc_calibration_check(void) {
+int rc_calibration_check(int mavlink_fd) {
 
 	char nbuf[20];
 	param_t _parameter_handles_min, _parameter_handles_trim, _parameter_handles_max,
 	_parameter_handles_rev, _parameter_handles_dz;
 
-	int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
-
 	float param_min, param_max, param_trim, param_rev, param_dz;
 
 	/* first check channel mappings */

src/modules/systemlib/rc_check.h

@@ -47,6 +47,6 @@
  * @return			0 / OK if RC calibration is ok, index + 1 of the first
  *				channel that failed else (so 1 == first channel failed)
  */
-__EXPORT int	rc_calibration_check(void);
+__EXPORT int	rc_calibration_check(int mavlink_fd);
 
 __END_DECLS

src/systemcmds/preflight_check/preflight_check.c

@@ -140,7 +140,7 @@ int preflight_check_main(int argc, char *argv[])
 
 	/* ---- RC CALIBRATION ---- */
 
-	bool rc_ok = (OK == rc_calibration_check());
+	bool rc_ok = (OK == rc_calibration_check(mavlink_fd));
 
 	/* warn */
 	if (!rc_ok)
@@ -227,4 +227,4 @@ static int led_off(int leds, int led)
 static int led_on(int leds, int led)
 {
 	return ioctl(leds, LED_ON, led);
-}
+}