Fix HIL shutdown crash

src/Vehicle/MultiVehicleManager.cc

@@ -109,7 +109,7 @@ void MultiVehicleManager::_deleteVehiclePhase1(Vehicle* vehicle)
     }
 
     vehicle->setActive(false);
-    vehicle->uas()->clearVehicle();
+    vehicle->uas()->shutdownVehicle();
 
     // First we must signal that a vehicle is no longer available.
     _activeVehicleAvailable = false;

src/Vehicle/Vehicle.cc

@@ -1057,7 +1057,7 @@ void Vehicle::setFlightMode(const QString& flightMode)
         mavlink_msg_set_mode_pack(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, id(), newBaseMode, custom_mode);
         sendMessage(msg);
     } else {
-        qCWarning(VehicleLog) << "FirmwarePlugin::setFlightMode failed, flightMode:" << flightMode;
+        qWarning() << "FirmwarePlugin::setFlightMode failed, flightMode:" << flightMode;
     }
 }
 

src/uas/UAS.cc

@@ -194,23 +194,6 @@ UAS::UAS(MAVLinkProtocol* protocol, Vehicle* vehicle, FirmwarePluginManager * fi
 }
 
 /**
-* Saves the settings of name, airframe, autopilot type and battery specifications
-* by calling writeSettings.
-*/
-UAS::~UAS()
-{
-#ifndef __mobile__
-    stopHil();
-    if (simulation) {
-        // wait for the simulator to exit
-        simulation->wait();
-        simulation->disconnectSimulation();
-        simulation->deleteLater();
-    }
-#endif
-}
-
-/**
 * @ return the id of the uas
 */
 int UAS::getUASID() const
@@ -2216,3 +2199,17 @@ void UAS::_say(const QString& text, int severity)
     if (!qgcApp()->runningUnitTests())
         qgcApp()->toolbox()->audioOutput()->say(text, severity);
 }
+
+void UAS::shutdownVehicle(void)
+{
+#ifndef __mobile__
+    stopHil();
+    if (simulation) {
+        // wait for the simulator to exit
+        simulation->wait();
+        simulation->disconnectSimulation();
+        simulation->deleteLater();
+    }
+#endif
+    _vehicle = NULL;
+}

src/uas/UAS.h

@@ -64,7 +64,6 @@ class UAS : public UASInterface
     Q_OBJECT
 public:
     UAS(MAVLinkProtocol* protocol, Vehicle* vehicle, FirmwarePluginManager * firmwarePluginManager);
-    ~UAS();
 
     float lipoFull;  ///< 100% charged voltage
     float lipoEmpty; ///< Discharged voltage
@@ -100,7 +99,8 @@ public:
     Q_PROPERTY(double   satRawVDOP              READ getSatRawVDOP                                      NOTIFY satRawVDOPChanged)
     Q_PROPERTY(double   satRawCOG               READ getSatRawCOG                                       NOTIFY satRawCOGChanged)
 
-    void clearVehicle(void) { _vehicle = NULL; }
+    /// Vehicle is about to go away
+    void shutdownVehicle(void);
 
     void setGroundSpeed(double val)
     {