From ab4d7dfc59e4bd7f6d0d3c25cb9d9d2f9aae84b2 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Fri, 4 Nov 2016 10:24:12 +0100
Subject: [PATCH] mavlink: stop ulog streaming when mavlink thread exits

'mavlink stop-all' during a log streaming session previously led to a
resource leak, and log streaming could only be re-started by rebooting the
system.
---
 src/modules/mavlink/mavlink_main.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index be7e5749e3..37846dba0a 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -2356,6 +2356,11 @@ Mavlink::task_main(int argc, char *argv[])
 		pthread_mutex_destroy(&_message_buffer_mutex);
 	}
 
+	if (_mavlink_ulog) {
+		_mavlink_ulog->stop();
+		_mavlink_ulog = nullptr;
+	}
+
 	warnx("exiting channel %i", (int)_channel);
 
 	return OK;