From 854489e0f4d53b1ed9524cb74e7b861b03bd2f7b Mon Sep 17 00:00:00 2001
From: FARHANG <farhang.nba@gmail.com>
Date: Fri, 13 Dec 2024 19:07:42 -0500
Subject: [PATCH]  Add cleanup function for SITL Gazebo on macOS

---
 ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator b/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
index 90e86aa6880e..0c2549c6633c 100644
--- a/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
+++ b/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
@@ -1,6 +1,16 @@
 #!/bin/sh
 # shellcheck disable=SC2154
 
+# Function to handle cleanup
+if [ "$(uname)" = "Darwin" ]; then
+    cleanup() {
+        echo "INFO  [init] Cleaning up on macOS..."
+        pkill -f "gz sim" || true  # Ignore errors if no process is found
+        trap - INT TERM  # Clear the trap to prevent re-triggering
+        exit 0  # Exit gracefully
+    }
+fi
+
 # Simulator IMU data provided at 250 Hz
 param set-default IMU_INTEG_RATE 250