mavlink: stop fixes

2 files changed, 9 insertions, 4 deletions

diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index b996413a8..568666c1e 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 f85773ae0..b6e008cbf 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;