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

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This commit is contained in:
Beat Küng
2018-01-31 15:18:51 +01:00
committed by Lorenz Meier
parent acaf7cd267
commit a644ed90dd
1 changed files with 6 additions and 5 deletions
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src/modules/mavlink/mavlink_main.cpp
+6 -5
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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 this is a config link, stay here and wait for it to open */
if (_uart_fd < 0 && _mode == MAVLINK_MODE_CONFIG) { 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; struct actuator_armed_s armed;
/* get the system arming state and abort on arming */ /* 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 */ /* abort if an arming topic is published and system is armed */
bool updated = false; bool updated = false;
orb_check(armed_fd, &updated); orb_check(armed_sub, &updated);
if (updated) { if (updated) {
/* the system is now providing arming status feedback. /* the system is now providing arming status feedback.
* instead of timing out, we resort to abort bringing * instead of timing out, we resort to abort bringing
* up the terminal. * up the terminal.
*/ */
orb_copy(ORB_ID(actuator_armed), armed_fd, &armed); orb_copy(ORB_ID(actuator_armed), armed_sub, &armed);
if (armed.armed) { if (armed.armed) {
/* this is not an error, but we are done */ /* this is not an error, but we are done */
orb_unsubscribe(armed_sub);
return -1; return -1;
} }
} }
usleep(100000); usleep(100000);
_uart_fd = ::open(uart_name, O_RDWR | O_NOCTTY); _uart_fd = ::open(uart_name, O_RDWR | O_NOCTTY);
}; }
::close(armed_fd); orb_unsubscribe(armed_sub);
} }
if (_uart_fd < 0) { if (_uart_fd < 0) {