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ArduSub: pass mavlink_message_t by const reference

This commit is contained in:
Pierre Kancir 2019-04-30 12:22:51 +02:00 committed by Peter Barker
parent 33e12a127c
commit 147a678569
2 changed files with 13 additions and 13 deletions
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22
ArduSub/GCS_Mavlink.cpp
View File

@ -516,13 +516,13 @@ MAV_RESULT GCS_MAVLINK_Sub::handle_command_long_packet(const mavlink_command_lon
void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg) void GCS_MAVLINK_Sub::handleMessage(const mavlink_message_t &msg)
{ {
switch (msg->msgid) { switch (msg.msgid) {
case MAVLINK_MSG_ID_HEARTBEAT: { // MAV ID: 0 case MAVLINK_MSG_ID_HEARTBEAT: { // MAV ID: 0
// We keep track of the last time we received a heartbeat from our GCS for failsafe purposes // We keep track of the last time we received a heartbeat from our GCS for failsafe purposes
if (msg->sysid != sub.g.sysid_my_gcs) { if (msg.sysid != sub.g.sysid_my_gcs) {
break; break;
} }
sub.failsafe.last_heartbeat_ms = AP_HAL::millis(); sub.failsafe.last_heartbeat_ms = AP_HAL::millis();
@ -530,11 +530,11 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
} }
case MAVLINK_MSG_ID_MANUAL_CONTROL: { // MAV ID: 69 case MAVLINK_MSG_ID_MANUAL_CONTROL: { // MAV ID: 69
if (msg->sysid != sub.g.sysid_my_gcs) { if (msg.sysid != sub.g.sysid_my_gcs) {
break; // Only accept control from our gcs break; // Only accept control from our gcs
} }
mavlink_manual_control_t packet; mavlink_manual_control_t packet;
mavlink_msg_manual_control_decode(msg, &packet); mavlink_msg_manual_control_decode(&msg, &packet);
if (packet.target != sub.g.sysid_this_mav) { if (packet.target != sub.g.sysid_this_mav) {
break; // only accept control aimed at us break; // only accept control aimed at us
@ -552,7 +552,7 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_SET_ATTITUDE_TARGET: { // MAV ID: 82 case MAVLINK_MSG_ID_SET_ATTITUDE_TARGET: { // MAV ID: 82
// decode packet // decode packet
mavlink_set_attitude_target_t packet; mavlink_set_attitude_target_t packet;
mavlink_msg_set_attitude_target_decode(msg, &packet); mavlink_msg_set_attitude_target_decode(&msg, &packet);
// ensure type_mask specifies to use attitude // ensure type_mask specifies to use attitude
// the thrust can be used from the altitude hold // the thrust can be used from the altitude hold
@ -584,7 +584,7 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED: { // MAV ID: 84 case MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED: { // MAV ID: 84
// decode packet // decode packet
mavlink_set_position_target_local_ned_t packet; mavlink_set_position_target_local_ned_t packet;
mavlink_msg_set_position_target_local_ned_decode(msg, &packet); mavlink_msg_set_position_target_local_ned_decode(&msg, &packet);
// exit if vehicle is not in Guided mode or Auto-Guided mode // exit if vehicle is not in Guided mode or Auto-Guided mode
if ((sub.control_mode != GUIDED) && !(sub.control_mode == AUTO && sub.auto_mode == Auto_NavGuided)) { if ((sub.control_mode != GUIDED) && !(sub.control_mode == AUTO && sub.auto_mode == Auto_NavGuided)) {
@ -657,7 +657,7 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT: { // MAV ID: 86 case MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT: { // MAV ID: 86
// decode packet // decode packet
mavlink_set_position_target_global_int_t packet; mavlink_set_position_target_global_int_t packet;
mavlink_msg_set_position_target_global_int_decode(msg, &packet); mavlink_msg_set_position_target_global_int_decode(&msg, &packet);
// exit if vehicle is not in Guided mode or Auto-Guided mode // exit if vehicle is not in Guided mode or Auto-Guided mode
if ((sub.control_mode != GUIDED) && !(sub.control_mode == AUTO && sub.auto_mode == Auto_NavGuided)) { if ((sub.control_mode != GUIDED) && !(sub.control_mode == AUTO && sub.auto_mode == Auto_NavGuided)) {
@ -723,7 +723,7 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_SET_HOME_POSITION: { case MAVLINK_MSG_ID_SET_HOME_POSITION: {
mavlink_set_home_position_t packet; mavlink_set_home_position_t packet;
mavlink_msg_set_home_position_decode(msg, &packet); mavlink_msg_set_home_position_decode(&msg, &packet);
if ((packet.latitude == 0) && (packet.longitude == 0) && (packet.altitude == 0)) { if ((packet.latitude == 0) && (packet.longitude == 0) && (packet.altitude == 0)) {
if (!sub.set_home_to_current_location(true)) { if (!sub.set_home_to_current_location(true)) {
// ignore this failure // ignore this failure
@ -748,7 +748,7 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_SYS_STATUS: { case MAVLINK_MSG_ID_SYS_STATUS: {
uint32_t MAV_SENSOR_WATER = 0x20000000; uint32_t MAV_SENSOR_WATER = 0x20000000;
mavlink_sys_status_t packet; mavlink_sys_status_t packet;
mavlink_msg_sys_status_decode(msg, &packet); mavlink_msg_sys_status_decode(&msg, &packet);
if ((packet.onboard_control_sensors_enabled & MAV_SENSOR_WATER) && !(packet.onboard_control_sensors_health & MAV_SENSOR_WATER)) { if ((packet.onboard_control_sensors_enabled & MAV_SENSOR_WATER) && !(packet.onboard_control_sensors_health & MAV_SENSOR_WATER)) {
sub.leak_detector.set_detect(); sub.leak_detector.set_detect();
} }
@ -778,7 +778,7 @@ uint64_t GCS_MAVLINK_Sub::capabilities() const
} }
// a RC override message is considered to be a 'heartbeat' from the ground station for failsafe purposes // a RC override message is considered to be a 'heartbeat' from the ground station for failsafe purposes
void GCS_MAVLINK_Sub::handle_rc_channels_override(const mavlink_message_t *msg) void GCS_MAVLINK_Sub::handle_rc_channels_override(const mavlink_message_t &msg)
{ {
sub.failsafe.last_heartbeat_ms = AP_HAL::millis(); sub.failsafe.last_heartbeat_ms = AP_HAL::millis();
GCS_MAVLINK::handle_rc_channels_override(msg); GCS_MAVLINK::handle_rc_channels_override(msg);

4
ArduSub/GCS_Mavlink.h
View File

@ -40,10 +40,10 @@ protected:
private: private:
void handleMessage(mavlink_message_t * msg) override; void handleMessage(const mavlink_message_t &msg) override;
bool handle_guided_request(AP_Mission::Mission_Command &cmd) override; bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override; void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override;
void handle_rc_channels_override(const mavlink_message_t *msg) override; void handle_rc_channels_override(const mavlink_message_t &msg) override;
bool try_send_message(enum ap_message id) override; bool try_send_message(enum ap_message id) override;
bool send_info(void); bool send_info(void);