From 36f91d30ebf6d617e4d3dc3299855a59598b4170 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Sat, 15 Aug 2015 09:53:13 +0300
Subject: [PATCH] Fixes pure virtual call exception in
 VirtualCanDriver<>::handleRxFrame() Stack trace: Thread [1] (Suspended:
 Breakpoint hit.)         12 __cxa_pure_virtual() libxx_cxapurevirtual.cxx:66
 0x0808ca42         11 notifyRxFrameListener() uc_dispatcher.cpp:216
 0x080787ce         10 uavcan::Dispatcher::spinOnce() uc_dispatcher.cpp:276
 0x080787ce         9 uavcan::Scheduler::spinOnce() uc_scheduler.cpp:196
 0x0807b4e0         8 spinOnce() abstract_node.hpp:88 0x080659fc         7
 spinOnce() node.hpp:132 0x080659fc         6 UavcanNode::node_spin_once()
 uavcan_main.cpp:428 0x080659fc         5 UavcanNode::run()
 uavcan_main.cpp:542 0x08065e74         4 operator() uavcan_main.cpp:343
 0x0806626a         3 UavcanNode::__lambda0::_FUN() uavcan_main.cpp:343
 0x0806626a         2 task_start() task_start.c:138 0x08087720         1
 <symbol is not available> 0x00000000

---
 src/modules/uavcan/uavcan_servers.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/modules/uavcan/uavcan_servers.cpp b/src/modules/uavcan/uavcan_servers.cpp
index d6d72a2f53..1713b282e7 100644
--- a/src/modules/uavcan/uavcan_servers.cpp
+++ b/src/modules/uavcan/uavcan_servers.cpp
@@ -98,6 +98,7 @@ UavcanServers::~UavcanServers()
 	if (_mutex_inited) {
 		(void)Lock::deinit(_subnode_mutex);
 	}
+	_main_node.getDispatcher().removeRxFrameListener();
 }
 
 int UavcanServers::stop(void)