From d952fe028e2cedf69b87a9ca01eff811fcc9b94e Mon Sep 17 00:00:00 2001
From: Karl Schwabe <ksschwabe@gmail.com>
Date: Wed, 21 Mar 2018 14:18:55 +0100
Subject: [PATCH] MPU6000: unadvertises the accel and gyro uORB topics in
 destructor

---
 src/drivers/imu/mpu6000/mpu6000.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/src/drivers/imu/mpu6000/mpu6000.cpp b/src/drivers/imu/mpu6000/mpu6000.cpp
index 756c035847..df97c4b0fa 100644
--- a/src/drivers/imu/mpu6000/mpu6000.cpp
+++ b/src/drivers/imu/mpu6000/mpu6000.cpp
@@ -594,6 +594,9 @@ MPU6000::~MPU6000()
 	/* make sure we are truly inactive */
 	stop();
 
+	orb_unadvertise(_accel_topic);
+	orb_unadvertise(_gyro->_gyro_topic);
+
 	/* delete the gyro subdriver */
 	delete _gyro;