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gimbal: fix unregister message subscription #2208

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merged 1 commit into from
Jan 12, 2024
+10 −1
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gimbal: fix unregister message subscription #2208

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9 changes: 9 additions & 0 deletions src/mavsdk/plugins/gimbal/gimbal_protocol_v2.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,15 @@ GimbalProtocolV2::GimbalProtocolV2(
_gimbal_manager_compid(gimbal_manager_compid)
{}

GimbalProtocolV2::~GimbalProtocolV2()
{
if (_is_mavlink_manager_status_registered) {
_is_mavlink_manager_status_registered = false;

_system_impl.unregister_mavlink_message_handler(MAVLINK_MSG_ID_GIMBAL_MANAGER_STATUS, this);
Comment on lines +24 to +26
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Not sure if it matters, but I'm always more comfortable setting the boolean after the fact (i.e. inverting those lines). So that it reads "now that I unregistered, I update the boolean that holds the registration state".

Probably just a nitpick though.

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The advantage of that way is that the check and set are right after each other and less likely to drift apart from each other and get lost.

Best case, it should not be a two step approach but one. Actually, we don't need this variable. We can just unregister and if we haven't registered it's silently ignored...

}
}

void GimbalProtocolV2::process_gimbal_manager_status(const mavlink_message_t& message)
{
Gimbal::ControlMode new_control_mode;
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2 changes: 1 addition & 1 deletion src/mavsdk/plugins/gimbal/gimbal_protocol_v2.h
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Expand Up @@ -12,7 +12,7 @@ class GimbalProtocolV2 : public GimbalProtocolBase {
const mavlink_gimbal_manager_information_t& information,
uint8_t gimbal_manager_sysid,
uint8_t gimbal_manager_compid);
~GimbalProtocolV2() override = default;
~GimbalProtocolV2() override;

Gimbal::Result set_pitch_and_yaw(float pitch_deg, float yaw_deg) override;
void set_pitch_and_yaw_async(
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