From c0285611ecdccd01cd2f86a0a5edf8195525b04a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Mon, 15 Feb 2021 11:20:48 +0100
Subject: [PATCH] fix logger: turn off lockstep when starting log streaming

Lockstep created deadlocks between logger and mavlink, due to logger
waiting for mavlink and mavlink waiting for lockstep.
---
 src/modules/logger/logger.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/modules/logger/logger.cpp b/src/modules/logger/logger.cpp
index a745b69f27..8d959690ec 100644
--- a/src/modules/logger/logger.cpp
+++ b/src/modules/logger/logger.cpp
@@ -1397,6 +1397,10 @@ void Logger::start_log_mavlink()
 		return;
 	}
 
+	// mavlink log does not work in combination with lockstep, it leads to dead-locks
+	px4_lockstep_unregister_component(_lockstep_component);
+	_lockstep_component = -1;
+
 	// initialize cpu load as early as possible to get more data
 	initialize_load_output(PrintLoadReason::Preflight);