Mavlink receiver unadvertise all

uorb multi pubs in destructor
PX4 · May 23, 2023 · 256c688 · 256c688
1 parent c903288
commit 256c688
Show file tree

Hide file tree

Showing 2 changed files with 11 additions and 1 deletion.
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
@@ -78,6 +78,16 @@ MavlinkReceiver::~MavlinkReceiver()
 #if !defined(CONSTRAINED_FLASH)
 	delete[] _received_msg_stats;
 #endif // !CONSTRAINED_FLASH
+
+	_distance_sensor_pub.unadvertise();
+	_gps_inject_data_pub.unadvertise();
+	_rc_pub.unadvertise();
+	_manual_control_input_pub.unadvertise();
+	_ping_pub.unadvertise();
+	_radio_status_pub.unadvertise();
+	_sensor_baro_pub.unadvertise();
+	_sensor_gps_pub.unadvertise();
+	_sensor_optical_flow_pub.unadvertise();
 }
 
 static constexpr vehicle_odometry_s vehicle_odometry_empty {

diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
@@ -335,7 +335,7 @@ class MavlinkReceiver : public ModuleParams
 	uORB::PublicationMulti<radio_status_s>			_radio_status_pub{ORB_ID(radio_status)};
 	uORB::PublicationMulti<sensor_baro_s>			_sensor_baro_pub{ORB_ID(sensor_baro)};
 	uORB::PublicationMulti<sensor_gps_s>			_sensor_gps_pub{ORB_ID(sensor_gps)};
-	uORB::PublicationMulti<sensor_optical_flow_s>         _sensor_optical_flow_pub{ORB_ID(sensor_optical_flow)};
+	uORB::PublicationMulti<sensor_optical_flow_s>           _sensor_optical_flow_pub{ORB_ID(sensor_optical_flow)};
 
 	// ORB publications (queue length > 1)
 	uORB::Publication<transponder_report_s>  _transponder_report_pub{ORB_ID(transponder_report)};