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mavlink: tcflush() uart before closing it

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On NuttX with flow control, if no one was reading from the uart, the
close() call would block indefinitely waiting for data to be sent.
This commit is contained in:
Beat Küng
2021-06-17 11:53:00 +02:00
committed by Daniel Agar
parent 074ed24d02
commit 14ec7a0d93
1 changed files with 4 additions and 5 deletions
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9
src/modules/mavlink/mavlink_main.cpp
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@@ -324,12 +324,9 @@ Mavlink::destroy_all_instances()
}
}
//we know all threads have exited, so it's safe to manipulate the linked list and delete objects.
//we know all threads have exited, so it's safe to delete objects.
for (Mavlink *inst_to_del : mavlink_module_instances) {
if (inst_to_del != nullptr) {
delete inst_to_del;
inst_to_del = nullptr;
}
delete inst_to_del;
}
printf("\n");
@@ -2533,6 +2530,8 @@ Mavlink::task_main(int argc, char *argv[])
_streams.clear();
if (_uart_fd >= 0 && !_is_usb_uart) {
/* discard all pending data, as close() might block otherwise on NuttX with flow control enabled */
tcflush(_uart_fd, TCIOFLUSH);
/* close UART */
::close(_uart_fd);
}