From b5be8d9fd19a5919d764c1268922f0bf64c1fd91 Mon Sep 17 00:00:00 2001
From: mcsauder <mcsauder@gmail.com>
Date: Wed, 20 Feb 2019 09:48:22 -0700
Subject: [PATCH] Add perf_free() calls orb_unsubscribe and remove delete
 _instance in the Simulator class destructor.

---
 src/modules/simulator/simulator.h | 17 +++++++++++++----
 1 file changed, 13 insertions(+), 4 deletions(-)

diff --git a/src/modules/simulator/simulator.h b/src/modules/simulator/simulator.h
index a2160e301d..63d0139c8f 100644
--- a/src/modules/simulator/simulator.h
+++ b/src/modules/simulator/simulator.h
@@ -255,9 +255,18 @@ private:
 
 	~Simulator()
 	{
-		if (_instance != nullptr) {
-			delete _instance;
-		}
+		// Unsubscribe from uORB topics.
+		orb_unsubscribe(_param_sub);
+
+		// free perf counters
+		perf_free(_perf_accel);
+		perf_free(_perf_airspeed);
+		perf_free(_perf_baro);
+		perf_free(_perf_gps);
+		perf_free(_perf_mag);
+		perf_free(_perf_mpu);
+		perf_free(_perf_sim_delay);
+		perf_free(_perf_sim_interval);
 
 		_instance = NULL;
 	}
@@ -358,8 +367,8 @@ private:
 
 	// uORB data containers
 	input_rc_s _rc_input {};
-	vehicle_attitude_s _attitude {};
 	manual_control_setpoint_s _manual {};
+	vehicle_attitude_s _attitude {};
 	vehicle_status_s _vehicle_status {};
 
 	DEFINE_PARAMETERS(