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ArduPlane: 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 c330b87592
commit 33e12a127c
2 changed files with 20 additions and 20 deletions
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32
ArduPlane/GCS_Mavlink.cpp
View File

@ -701,7 +701,7 @@ MAV_RESULT GCS_MAVLINK_Plane::_handle_command_preflight_calibration(const mavlin
}
void GCS_MAVLINK_Plane::packetReceived(const mavlink_status_t &status,
mavlink_message_t &msg)
const mavlink_message_t &msg)
{
plane.avoidance_adsb.handle_msg(msg);
GCS_MAVLINK::packetReceived(status, msg);
@ -1007,15 +1007,15 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
}
}
void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
void GCS_MAVLINK_Plane::handleMessage(const mavlink_message_t &msg)
{
switch (msg->msgid) {
switch (msg.msgid) {
#if GEOFENCE_ENABLED == ENABLED
// receive a fence point from GCS and store in EEPROM
case MAVLINK_MSG_ID_FENCE_POINT: {
mavlink_fence_point_t packet;
mavlink_msg_fence_point_decode(msg, &packet);
mavlink_msg_fence_point_decode(&msg, &packet);
if (plane.g.fence_action != FENCE_ACTION_NONE) {
send_text(MAV_SEVERITY_WARNING,"Fencing must be disabled");
} else if (packet.count != plane.g.fence_total) {
@ -1031,12 +1031,12 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
// send a fence point to GCS
case MAVLINK_MSG_ID_FENCE_FETCH_POINT: {
mavlink_fence_fetch_point_t packet;
mavlink_msg_fence_fetch_point_decode(msg, &packet);
mavlink_msg_fence_fetch_point_decode(&msg, &packet);
if (packet.idx >= plane.g.fence_total) {
send_text(MAV_SEVERITY_WARNING,"Bad fence point");
} else {
Vector2l point = plane.get_fence_point_with_index(packet.idx);
mavlink_msg_fence_point_send_buf(msg, chan, msg->sysid, msg->compid, packet.idx, plane.g.fence_total,
mavlink_msg_fence_point_send(chan, msg.sysid, msg.compid, packet.idx, plane.g.fence_total,
point.x*1.0e-7f, point.y*1.0e-7f);
}
break;
@ -1046,12 +1046,12 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_MANUAL_CONTROL:
{
if (msg->sysid != plane.g.sysid_my_gcs) {
if (msg.sysid != plane.g.sysid_my_gcs) {
break; // only accept control from our gcs
}
mavlink_manual_control_t packet;
mavlink_msg_manual_control_decode(msg, &packet);
mavlink_msg_manual_control_decode(&msg, &packet);
if (packet.target != plane.g.sysid_this_mav) {
break; // only accept messages aimed at us
@ -1073,7 +1073,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
{
// We keep track of the last time we received a heartbeat from
// our GCS for failsafe purposes
if (msg->sysid != plane.g.sysid_my_gcs) break;
if (msg.sysid != plane.g.sysid_my_gcs) break;
plane.failsafe.last_heartbeat_ms = AP_HAL::millis();
break;
}
@ -1086,7 +1086,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
}
mavlink_hil_state_t packet;
mavlink_msg_hil_state_decode(msg, &packet);
mavlink_msg_hil_state_decode(&msg, &packet);
// sanity check location
if (!check_latlng(packet.lat, packet.lon)) {
@ -1168,7 +1168,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
}
mavlink_set_attitude_target_t att_target;
mavlink_msg_set_attitude_target_decode(msg, &att_target);
mavlink_msg_set_attitude_target_decode(&msg, &att_target);
// Mappings: If any of these bits are set, the corresponding input should be ignored.
// NOTE, when parsing the bits we invert them for easier interpretation but transport has them inverted
@ -1229,7 +1229,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_SET_HOME_POSITION:
{
mavlink_set_home_position_t packet;
mavlink_msg_set_home_position_decode(msg, &packet);
mavlink_msg_set_home_position_decode(&msg, &packet);
Location new_home_loc {};
new_home_loc.lat = packet.latitude;
new_home_loc.lng = packet.longitude;
@ -1245,7 +1245,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
{
// decode 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
if (plane.control_mode != &plane.mode_guided) {
@ -1279,7 +1279,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
}
mavlink_set_position_target_global_int_t pos_target;
mavlink_msg_set_position_target_global_int_decode(msg, &pos_target);
mavlink_msg_set_position_target_global_int_decode(&msg, &pos_target);
// Unexpectedly, the mask is expecting "ones" for dimensions that should
// be IGNORNED rather than INCLUDED. See mavlink documentation of the
// SET_POSITION_TARGET_GLOBAL_INT message, type_mask field.
@ -1332,7 +1332,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
} // end handle mavlink
// a RC override message is considered to be a 'heartbeat' from the ground station for failsafe purposes
void GCS_MAVLINK_Plane::handle_rc_channels_override(const mavlink_message_t *msg)
void GCS_MAVLINK_Plane::handle_rc_channels_override(const mavlink_message_t &msg)
{
plane.failsafe.last_heartbeat_ms = AP_HAL::millis();
GCS_MAVLINK::handle_rc_channels_override(msg);
@ -1371,7 +1371,7 @@ void Plane::mavlink_delay_cb()
logger.EnableWrites(true);
}
void GCS_MAVLINK_Plane::handle_mission_set_current(AP_Mission &mission, mavlink_message_t *msg)
void GCS_MAVLINK_Plane::handle_mission_set_current(AP_Mission &mission, const mavlink_message_t &msg)
{
plane.auto_state.next_wp_crosstrack = false;
GCS_MAVLINK::handle_mission_set_current(mission, msg);

8
ArduPlane/GCS_Mavlink.h
View File

@ -12,7 +12,7 @@ protected:
uint32_t telem_delay() const override;
void handle_mission_set_current(AP_Mission &mission, mavlink_message_t *msg) override;
void handle_mission_set_current(AP_Mission &mission, const mavlink_message_t &msg) override;
AP_AdvancedFailsafe *get_advanced_failsafe() const override;
@ -46,12 +46,12 @@ private:
void send_pid_info(const AP_Logger::PID_Info *pid_info, const uint8_t axis, const float achieved);
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;
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;
void packetReceived(const mavlink_status_t &status, mavlink_message_t &msg) override;
void packetReceived(const mavlink_status_t &status, const mavlink_message_t &msg) override;
MAV_MODE base_mode() const override;
MAV_STATE system_status() const override;