mavlink: Add cleanups to the destructor

Unsubscribe & unadvertise topics which were subscribed/advertised in the constructor Signed-off-by: Jukka Laitinen <[email protected]>
tiiuae · Jan 10, 2025 · 9c84880 · 9c84880
1 parent d8b70ca
commit 9c84880
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
@@ -178,6 +178,10 @@ Mavlink::~Mavlink()
 
 	delete _stream_poller;
 
+	_telemetry_status_pub.unadvertise();
+	_event_sub.unsubscribe();
+	_vehicle_command_sub.unsubscribe();
+
 	perf_free(_loop_perf);
 	perf_free(_loop_interval_perf);
 	perf_free(_send_byte_error_perf);