Fixed hard fault on rover_pos_control stop #12501
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It's probably worth switching this over entirely to ModuleBase to fix these problems. Take a look at the current FW position or attitude controllers as an example. |
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Or look at the template: https://github.com/PX4/Firmware/tree/master/src/templates/module. Also for the parameters. |
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bkueng
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Thanks for the refactoring.
Can you remove these as well:
- https://github.com/PX4/Firmware/blob/106d25eab2d413cd00ed59032c083c916234b719/src/modules/rover_pos_control/RoverPositionControl.cpp#L50
- https://github.com/PX4/Firmware/blob/106d25eab2d413cd00ed59032c083c916234b719/src/modules/rover_pos_control/RoverPositionControl.cpp#L66
And call perf_free in the destructor: https://github.com/PX4/Firmware/blob/106d25eab2d413cd00ed59032c083c916234b719/src/modules/rover_pos_control/RoverPositionControl.cpp#L73.
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| @@ -503,102 +428,85 @@ RoverPositionControl::task_main() | |||
| orb_unsubscribe(_pos_sp_triplet_sub); | |||
| orb_unsubscribe(_vehicle_attitude_sub); | |||
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| _task_running = false; | |||
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| warnx("exiting.\n"); | |||
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fyi you can remove that as well, and warnx is deprecated, PX4_{WARN,INFO,ERR} is used instead.
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Describe problem solved by the proposed pull request
When running the command
rover_pos_control stop, it hard-faults.Test data / coverage
Stopped and started
rover_pos_controlseveral times to make sure it did not hard-fault.Describe your preferred solution
An object was being double-deleted. That has been fixed.