From f611eddadde74138290ad684a56bf7896e4d47cf Mon Sep 17 00:00:00 2001
From: baumanta <baumanta@student.ethz.ch>
Date: Tue, 6 Nov 2018 10:24:41 +0100
Subject: [PATCH] unadvertise publishers in the destructor
---
src/lib/CollisionAvoidance/CollisionAvoidance.cpp | 10 ++++++++++
src/lib/CollisionAvoidance/CollisionAvoidance.hpp | 2 +-
2 files changed, 11 insertions(+), 1 deletion(-)
diff --git a/src/lib/CollisionAvoidance/CollisionAvoidance.cpp b/src/lib/CollisionAvoidance/CollisionAvoidance.cpp
index 1afc2f5c26..9b712cc553 100644
--- a/src/lib/CollisionAvoidance/CollisionAvoidance.cpp
+++ b/src/lib/CollisionAvoidance/CollisionAvoidance.cpp
@@ -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)) {
diff --git a/src/lib/CollisionAvoidance/CollisionAvoidance.hpp b/src/lib/CollisionAvoidance/CollisionAvoidance.hpp
index 39a05c9bd0..66a72d75d4 100644
--- a/src/lib/CollisionAvoidance/CollisionAvoidance.hpp
+++ b/src/lib/CollisionAvoidance/CollisionAvoidance.hpp
@@ -63,7 +63,7 @@ class CollisionAvoidance : public ModuleParams
public:
CollisionAvoidance();
- ~CollisionAvoidance() = default;
+ ~CollisionAvoidance();
/**
* Initialize the uORB subscriptions using an array
--
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