From c10ef787539265bc36fb76c855aa19b30ea24b04 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Sat, 1 Mar 2014 17:12:46 +0400 Subject: [PATCH] mavlink: stop fixes --- src/modules/mavlink/mavlink_main.cpp | 11 ++++++++--- src/modules/mavlink/mavlink_receiver.cpp | 2 +- 2 files changed, 9 insertions(+), 4 deletions(-) diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index b996413a85..568666c1ea 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -308,7 +308,7 @@ Mavlink::destroy_all_instances() usleep(10000); iterations++; - if (iterations > 10000) { + if (iterations > 1000) { warnx("ERROR: Couldn't stop all mavlink instances."); return ERROR; } @@ -1850,18 +1850,23 @@ Mavlink::task_main(int argc, char *argv[]) delete _subscribe_to_stream; _subscribe_to_stream = nullptr; + warnv("waiting for UART receive thread"); + /* wait for threads to complete */ pthread_join(receive_thread, NULL); - /* Reset the UART flags to original state */ + /* reset the UART flags to original state */ tcsetattr(_uart, TCSANOW, &uart_config_original); + /* close UART */ + close(_uart); + /* destroy log buffer */ mavlink_logbuffer_destroy(&lb); thread_running = false; - warnx("exiting."); + warnx("exiting"); _mavlink_task = -1; _exit(0); diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index f85773ae02..b6e008cbfc 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -795,7 +795,7 @@ MavlinkReceiver::receive_thread(void *arg) { int uart_fd = _mavlink->get_uart_fd(); - const int timeout = 1000; + const int timeout = 500; uint8_t buf[32]; mavlink_message_t msg;