From eba9276e6face6f30f12fba7304aaf1cecc5cc96 Mon Sep 17 00:00:00 2001
From: Thomas Debrunner <thomas.debrunner@auterion.com>
Date: Thu, 20 Jun 2024 13:29:08 +0200
Subject: [PATCH] system: never call task_delete on nuttx, never force stop
 tasks

---
 .../include/px4_platform_common/module.h       | 18 +++---------------
 platforms/nuttx/src/px4/common/tasks.cpp       |  4 +++-
 2 files changed, 6 insertions(+), 16 deletions(-)

diff --git a/platforms/common/include/px4_platform_common/module.h b/platforms/common/include/px4_platform_common/module.h
index 13e5a5ccae..83e8fbc98f 100644
--- a/platforms/common/include/px4_platform_common/module.h
+++ b/platforms/common/include/px4_platform_common/module.h
@@ -239,21 +239,9 @@ public:
 					unlock_module();
 					px4_usleep(10000); // 10 ms
 					lock_module();
-
-					if (++i > 500 && _task_id != -1) { // wait at most 5 sec
-						PX4_ERR("timeout, forcing stop");
-
-						if (_task_id != task_id_is_work_queue) {
-							px4_task_delete(_task_id);
-						}
-
-						_task_id = -1;
-
-						delete _object.load();
-						_object.store(nullptr);
-
-						ret = -1;
-						break;
+					i++;
+					if (i % 500 == 0) {
+						PX4_INFO("Waiting for task to stop...");
 					}
 				} while (_task_id != -1);
 
diff --git a/platforms/nuttx/src/px4/common/tasks.cpp b/platforms/nuttx/src/px4/common/tasks.cpp
index 9ad860dc18..283ec71fd2 100644
--- a/platforms/nuttx/src/px4/common/tasks.cpp
+++ b/platforms/nuttx/src/px4/common/tasks.cpp
@@ -45,6 +45,7 @@
 #include <nuttx/kthread.h>
 
 #include <sys/wait.h>
+#include <syslog.h>
 #include <stdbool.h>
 #include <stdio.h>
 #include <stdlib.h>
@@ -88,7 +89,8 @@ int px4_task_spawn_cmd(const char *name, int scheduler, int priority, int stack_
 
 int px4_task_delete(int pid)
 {
-	return task_delete(pid);
+	syslog(LOG_ERR, "Ignoring force task delete on NuttX\n");
+	return ERROR;
 }
 
 const char *px4_get_taskname(void)