Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-01 13:38:38 -04:00
Code Issues Packages Projects Releases Wiki Activity

GCS_MAVLink: tidy valid-channel check in install_alternative_protocol

Browse Source 
- stop getting link multiple times
 - rely on chan() returning nullptr rather than explicitly checking num_gcs
This commit is contained in:
Peter Barker 2022-12-22 17:29:40 +11:00 committed by Andrew Tridgell
parent 14d1a075db
commit 26d714e9a9
1 changed files with 4 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
libraries/GCS_MAVLink/GCS.cpp
View File

@ -131,15 +131,16 @@ void GCS::enable_high_latency_connections(bool enabled)
*/
bool GCS::install_alternative_protocol(mavlink_channel_t c, GCS_MAVLINK::protocol_handler_fn_t handler)
{
if (c >= num_gcs()) {
GCS_MAVLINK *link = chan(c);
if (link == nullptr) {
return false;
}
if (chan(c)->alternative.handler && handler) {
if (link->alternative.handler && handler) {
// already have one installed - we may need to add support for
// multiple alternative handlers
return false;
}
chan(c)->alternative.handler = handler;
link->alternative.handler = handler;
return true;
}