From d68d9b522b19e9758cd567a3905f55ae7b8f5977 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Mon, 19 Mar 2018 17:13:07 +0100
Subject: [PATCH] fix mc_att_control: add missing orb_unsubscribe
---
.../mc_att_control/mc_att_control_main.cpp | 16 ++++++++++++++++
1 file changed, 16 insertions(+)
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
index ef11870c30..acb153fbcc 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -1017,6 +1017,22 @@ MulticopterAttitudeControl::run()
perf_end(_loop_perf);
}
+ orb_unsubscribe(_v_att_sub);
+ orb_unsubscribe(_v_att_sp_sub);
+ orb_unsubscribe(_v_rates_sp_sub);
+ orb_unsubscribe(_v_control_mode_sub);
+ orb_unsubscribe(_params_sub);
+ orb_unsubscribe(_manual_control_sp_sub);
+ orb_unsubscribe(_vehicle_status_sub);
+ orb_unsubscribe(_motor_limits_sub);
+ orb_unsubscribe(_battery_status_sub);
+
+ for (unsigned s = 0; s < _gyro_count; s++) {
+ orb_unsubscribe(_sensor_gyro_sub[s]);
+ }
+
+ orb_unsubscribe(_sensor_correction_sub);
+ orb_unsubscribe(_sensor_bias_sub);
}
int MulticopterAttitudeControl::task_spawn(int argc, char *argv[])
--
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