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mavlink: use orb_unsubscribe() instead of close() for orb subscription

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Beat Küng 2018-01-31 14:46:39 +01:00 committed by Lorenz Meier
parent acaf7cd267
commit a644ed90dd
1 changed files with 6 additions and 5 deletions
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11
src/modules/mavlink/mavlink_main.cpp
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@ -739,7 +739,7 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name)
/* if this is a config link, stay here and wait for it to open */
if (_uart_fd < 0 && _mode == MAVLINK_MODE_CONFIG) {
int armed_fd = orb_subscribe(ORB_ID(actuator_armed));
int armed_sub = orb_subscribe(ORB_ID(actuator_armed));
struct actuator_armed_s armed;
/* get the system arming state and abort on arming */
@ -747,26 +747,27 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name)
/* abort if an arming topic is published and system is armed */
bool updated = false;
orb_check(armed_fd, &updated);
orb_check(armed_sub, &updated);
if (updated) {
/* the system is now providing arming status feedback.
* instead of timing out, we resort to abort bringing
* up the terminal.
*/
orb_copy(ORB_ID(actuator_armed), armed_fd, &armed);
orb_copy(ORB_ID(actuator_armed), armed_sub, &armed);
if (armed.armed) {
/* this is not an error, but we are done */
orb_unsubscribe(armed_sub);
return -1;
}
}
usleep(100000);
_uart_fd = ::open(uart_name, O_RDWR | O_NOCTTY);
};
}
::close(armed_fd);
orb_unsubscribe(armed_sub);
}
if (_uart_fd < 0) {