...

mcc/mcc_moving_controls.h

@@ -163,7 +163,8 @@ public:
         *_stopMoving = true;
         *_lastError = MccSimpleMovingControlsErrorCode::ERROR_OK;
 
-        auto cb_sptr = std::make_shared(std::forward<CallbackFuncT>(mode_switch_calback));
+        using cb_func_t = std::function<void(typename MountT::mount_status_t)>;
+        auto cb_sptr = std::shared_ptr<cb_func_t>(new cb_func_t(std::forward<CallbackFuncT>(mode_switch_calback)));
 
         _slewingFunc = [mount, cb_sptr, this](bool slew_and_stop) {
             double braking_accelX, braking_accelY;
@@ -288,6 +289,11 @@ public:
         };
     }
 
+    virtual ~MccSimpleMovingControls()
+    {
+        *_stopMoving = true;
+    }
+
     error_t slewToTarget(bool slew_and_stop = false)
     {
         return *_lastError;