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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-03-11 19:28:48 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-03-11 19:28:48 +0400 |
| commit | 9e41f6af18d3d84413501ce37737d574fd20816d (patch) | |
| tree | 96943f032b54a37224ed59d7703aa985c8f33912 /src/modules/mavlink/mavlink_receiver.cpp | |
| parent | 09f18408fc5835622a955c80304ce6599ef98090 (diff) | |
| download | px4-firmware-9e41f6af18d3d84413501ce37737d574fd20816d.tar.gz px4-firmware-9e41f6af18d3d84413501ce37737d574fd20816d.tar.bz2 px4-firmware-9e41f6af18d3d84413501ce37737d574fd20816d.zip | |
mavlink: memory leaks on exit fixed, minor fixes
Diffstat (limited to 'src/modules/mavlink/mavlink_receiver.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 17 |
1 files changed, 12 insertions, 5 deletions
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index c9fcc4cd8..fa63e06c5 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -83,7 +83,7 @@ __BEGIN_DECLS __END_DECLS -static const float mg2ms2 = 9.8f / 1000.0f; +static const float mg2ms2 = CONSTANTS_ONE_G / 1000.0f; MavlinkReceiver::MavlinkReceiver(Mavlink *parent) : _mavlink(parent), @@ -118,6 +118,10 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) : memset(&hil_local_pos, 0, sizeof(hil_local_pos)); } +MavlinkReceiver::~MavlinkReceiver() +{ +} + void MavlinkReceiver::handle_message(mavlink_message_t *msg) { @@ -828,9 +832,9 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg) memset(&accel, 0, sizeof(accel)); accel.timestamp = timestamp; - accel.x_raw = hil_state.xacc / 9.81f * 1e3f; - accel.y_raw = hil_state.yacc / 9.81f * 1e3f; - accel.z_raw = hil_state.zacc / 9.81f * 1e3f; + accel.x_raw = hil_state.xacc / CONSTANTS_ONE_G * 1e3f; + accel.y_raw = hil_state.yacc / CONSTANTS_ONE_G * 1e3f; + accel.z_raw = hil_state.zacc / CONSTANTS_ONE_G * 1e3f; accel.x = hil_state.xacc; accel.y = hil_state.yacc; accel.z = hil_state.zacc; @@ -925,7 +929,10 @@ void MavlinkReceiver::print_status() void *MavlinkReceiver::start_helper(void *context) { MavlinkReceiver *rcv = new MavlinkReceiver((Mavlink *)context); - return rcv->receive_thread(NULL); + + rcv->receive_thread(NULL); + + delete rcv; } pthread_t |