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mavlink: memory leaks on exit fixed, minor fixes

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This commit is contained in:
Anton Babushkin
2014-03-11 19:28:48 +04:00
parent 09f18408fc
commit 9e41f6af18
2 changed files with 50 additions and 16 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+12 -5
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@@ -83,7 +83,7 @@ __BEGIN_DECLS
__END_DECLS
static const float mg2ms2 = 9.8f / 1000.0f;
static const float mg2ms2 = CONSTANTS_ONE_G / 1000.0f;
MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_mavlink(parent),
@@ -118,6 +118,10 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
memset(&hil_local_pos, 0, sizeof(hil_local_pos));
}
MavlinkReceiver::~MavlinkReceiver()
{
}
void
MavlinkReceiver::handle_message(mavlink_message_t *msg)
{
@@ -828,9 +832,9 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
memset(&accel, 0, sizeof(accel));
accel.timestamp = timestamp;
accel.x_raw = hil_state.xacc / 9.81f * 1e3f;
accel.y_raw = hil_state.yacc / 9.81f * 1e3f;
accel.z_raw = hil_state.zacc / 9.81f * 1e3f;
accel.x_raw = hil_state.xacc / CONSTANTS_ONE_G * 1e3f;
accel.y_raw = hil_state.yacc / CONSTANTS_ONE_G * 1e3f;
accel.z_raw = hil_state.zacc / CONSTANTS_ONE_G * 1e3f;
accel.x = hil_state.xacc;
accel.y = hil_state.yacc;
accel.z = hil_state.zacc;
@@ -925,7 +929,10 @@ void MavlinkReceiver::print_status()
void *MavlinkReceiver::start_helper(void *context)
{
MavlinkReceiver *rcv = new MavlinkReceiver((Mavlink *)context);
return rcv->receive_thread(NULL);
rcv->receive_thread(NULL);
delete rcv;
}
pthread_t