From c6aaa606da9ab6cd10fe6a53d833c6cd61ca998b Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Thu, 8 Aug 2019 11:36:27 -0400 Subject: [PATCH] sensors angular velocity and acceleration publishers fix auto usage - if the primary gyro or accel change this will cause the callback to be registered multiple times --- .../sensors/vehicle_acceleration/VehicleAcceleration.cpp | 4 ++-- .../vehicle_angular_velocity/VehicleAngularVelocity.cpp | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp b/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp index 9e7f78f828..c20d1dc646 100644 --- a/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp +++ b/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp @@ -80,7 +80,7 @@ VehicleAcceleration::Stop() Deinit(); // clear all registered callbacks - for (auto sub : _sensor_sub) { + for (auto &sub : _sensor_sub) { sub.unregister_callback(); } @@ -131,7 +131,7 @@ VehicleAcceleration::SensorCorrectionsUpdate(bool force) if ((_selected_sensor != corrections.selected_accel_instance) || force) { if (corrections.selected_accel_instance < MAX_SENSOR_COUNT) { // clear all registered callbacks - for (auto sub : _sensor_sub) { + for (auto &sub : _sensor_sub) { sub.unregister_callback(); } diff --git a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp index 26fcb63cd7..41369e2d95 100644 --- a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp +++ b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp @@ -80,7 +80,7 @@ VehicleAngularVelocity::Stop() Deinit(); // clear all registered callbacks - for (auto sub : _sensor_sub) { + for (auto &sub : _sensor_sub) { sub.unregister_callback(); } @@ -131,7 +131,7 @@ VehicleAngularVelocity::SensorCorrectionsUpdate(bool force) if ((_selected_sensor != corrections.selected_gyro_instance) || force) { if (corrections.selected_gyro_instance < MAX_SENSOR_COUNT) { // clear all registered callbacks - for (auto sub : _sensor_sub) { + for (auto &sub : _sensor_sub) { sub.unregister_callback(); }