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Fix MAVLink app teardown with mavlink stop-all command

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This commit is contained in:
Lorenz Meier
2016-03-25 15:20:32 +01:00
parent c385d5e32b
commit 6d42595c79
3 changed files with 13 additions and 15 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+6 -8
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@@ -1918,7 +1918,7 @@ MavlinkReceiver::receive_thread(void *arg)
}
}
return NULL;
return nullptr;
}
void MavlinkReceiver::print_status()
@@ -1951,15 +1951,15 @@ void *MavlinkReceiver::start_helper(void *context)
MavlinkReceiver *rcv = new MavlinkReceiver((Mavlink *)context);
rcv->receive_thread(NULL);
void* ret = rcv->receive_thread(NULL);
delete rcv;
return nullptr;
return ret;
}
pthread_t
MavlinkReceiver::receive_start(Mavlink *parent)
void
MavlinkReceiver::receive_start(pthread_t *thread, Mavlink *parent)
{
pthread_attr_t receiveloop_attr;
pthread_attr_init(&receiveloop_attr);
@@ -1976,9 +1976,7 @@ MavlinkReceiver::receive_start(Mavlink *parent)
(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
pthread_attr_setstacksize(&receiveloop_attr, 2100);
pthread_t thread;
pthread_create(&thread, &receiveloop_attr, MavlinkReceiver::start_helper, (void *)parent);
pthread_create(thread, &receiveloop_attr, MavlinkReceiver::start_helper, (void *)parent);
pthread_attr_destroy(&receiveloop_attr);
return thread;
}