mavsdk_server: fix crash on stop/destruction #2417
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This fixes a segfault which happens when the mavsdk_server is stopped and destroyed before every having discovered any autopilot. What happened is that: 1. ConnectionInitiator would be cancelled. 2. ConnectionInitiator would be destructed. 3. And only now the connect thread would wake up from sleeping and read the _should_exit flag which at this point has been destroyed. At this point the connect function would try to access Mavsdk::systems() which is also destructed by that point and cause a segfault. The fix is to wrap the ConnectionInitiator class in a shared ptr and keep that one alive in the connect function to avoid destruction until it has returned.
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This fixes a segfault which happens when the mavsdk_server is stopped and destroyed before every having discovered any autopilot.
What happened is that:
The fix is to wrap the ConnectionInitiator class in a shared ptr and keep that one alive in the connect function to avoid destruction until it has returned.