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unadvertise publishers in the destructor

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This commit is contained in:
baumanta
2018-11-20 14:11:33 +01:00
committed by Beat Küng
parent 81ec6c5b1e
commit f611eddadd
2 changed files with 11 additions and 1 deletions
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src/lib/CollisionAvoidance/CollisionAvoidance.cpp
+10
View File
@@ -46,6 +46,16 @@ CollisionAvoidance::CollisionAvoidance() :
}
CollisionAvoidance::~CollisionAvoidance(){
//unadvertise publishers
if (_constraints_pub != nullptr) {
orb_unadvertise(_constraints_pub);
}
if (_mavlink_log_pub != nullptr) {
orb_unadvertise(_mavlink_log_pub);
}
}
bool CollisionAvoidance::initializeSubscriptions(SubscriptionArray &subscription_array)
{
if (!subscription_array.get(ORB_ID(obstacle_distance), _sub_obstacle_distance)) {
src/lib/CollisionAvoidance/CollisionAvoidance.hpp
+1 -1
View File
@@ -63,7 +63,7 @@ class CollisionAvoidance : public ModuleParams
public:
CollisionAvoidance();
~CollisionAvoidance() = default;
~CollisionAvoidance();
/**
* Initialize the uORB subscriptions using an array