Merge branch 'main' into pr-dual-atmos

src/modules/mavlink/mavlink_main.cpp

@@ -163,7 +163,10 @@ Mavlink::~Mavlink()
 	}
 
 	if (_instance_id >= 0) {
-		mavlink_module_instances[_instance_id] = nullptr;
+		{
+			LockGuard lg{mavlink_module_mutex};
+			mavlink_module_instances[_instance_id] = nullptr;
+		}
 		mavlink_instance_count.fetch_sub(1);
 	}
 

src/modules/mavlink/mavlink_receiver.cpp

@@ -3160,7 +3160,7 @@ MavlinkReceiver::run()
 	ssize_t nread = 0;
 	hrt_abstime last_send_update = 0;
 
-	while (!_mavlink.should_exit()) {
+	while (!_should_exit.load()) {
 
 		// check for parameter updates
 		if (_parameter_update_sub.updated()) {

test/mavsdk_tests/test_multicopter_basics.cpp

@@ -40,7 +40,7 @@
 TEST_CASE("Takeoff and hold position", "[multicopter][vtol]")
 {
 	const float takeoff_altitude = 10.f;
-	const float altitude_tolerance = 0.1f;
+	const float altitude_tolerance = 0.2f;
 	const int delay_seconds = 60.f;
 
 	AutopilotTester tester;