From d9b5efb263b61b8dc47ee63d7b4eb0b62853877a Mon Sep 17 00:00:00 2001 From: t0ni0 Date: Mon, 9 Jun 2014 19:09:38 -0400 Subject: [PATCH] Closed additional file descriptor --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 6a105762ba..9d9d2a7c00 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -1071,6 +1071,12 @@ MulticopterPositionControl::task_main() _reset_pos_sp = true; reset_int_z = true; reset_int_xy = true; + + /* Close att_sp pub to allow offboard mode or att controller to advertise */ + if (_att_sp_pub > 0) { + close(_att_sp_pub); + _att_sp_pub = -1; + } } /* reset altitude controller integral (hovering throttle) to manual throttle after manual throttle control */