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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, 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); plane.avoidance_adsb.handle_msg(msg);
GCS_MAVLINK::packetReceived(status, 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 #if GEOFENCE_ENABLED == ENABLED
// receive a fence point from GCS and store in EEPROM // receive a fence point from GCS and store in EEPROM
case MAVLINK_MSG_ID_FENCE_POINT: { case MAVLINK_MSG_ID_FENCE_POINT: {
mavlink_fence_point_t packet; 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) { if (plane.g.fence_action != FENCE_ACTION_NONE) {
send_text(MAV_SEVERITY_WARNING,"Fencing must be disabled"); send_text(MAV_SEVERITY_WARNING,"Fencing must be disabled");
} else if (packet.count != plane.g.fence_total) { } 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 // send a fence point to GCS
case MAVLINK_MSG_ID_FENCE_FETCH_POINT: { case MAVLINK_MSG_ID_FENCE_FETCH_POINT: {
mavlink_fence_fetch_point_t packet; 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) { if (packet.idx >= plane.g.fence_total) {
send_text(MAV_SEVERITY_WARNING,"Bad fence point"); send_text(MAV_SEVERITY_WARNING,"Bad fence point");
} else { } else {
Vector2l point = plane.get_fence_point_with_index(packet.idx); 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); point.x*1.0e-7f, point.y*1.0e-7f);
} }
break; break;
@ -1046,12 +1046,12 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_MANUAL_CONTROL: 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 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 != plane.g.sysid_this_mav) { if (packet.target != plane.g.sysid_this_mav) {
break; // only accept messages aimed at us 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 // We keep track of the last time we received a heartbeat from
// our GCS for failsafe purposes // 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(); plane.failsafe.last_heartbeat_ms = AP_HAL::millis();
break; break;
} }
@ -1086,7 +1086,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
} }
mavlink_hil_state_t packet; mavlink_hil_state_t packet;
mavlink_msg_hil_state_decode(msg, &packet); mavlink_msg_hil_state_decode(&msg, &packet);
// sanity check location // sanity check location
if (!check_latlng(packet.lat, packet.lon)) { 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_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. // 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 // 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: 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);
Location new_home_loc {}; Location new_home_loc {};
new_home_loc.lat = packet.latitude; new_home_loc.lat = packet.latitude;
new_home_loc.lng = packet.longitude; new_home_loc.lng = packet.longitude;
@ -1245,7 +1245,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
{ {
// 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 // exit if vehicle is not in Guided mode
if (plane.control_mode != &plane.mode_guided) { 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_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 // Unexpectedly, the mask is expecting "ones" for dimensions that should
// be IGNORNED rather than INCLUDED. See mavlink documentation of the // be IGNORNED rather than INCLUDED. See mavlink documentation of the
// SET_POSITION_TARGET_GLOBAL_INT message, type_mask field. // 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 } // end handle mavlink
// 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_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(); plane.failsafe.last_heartbeat_ms = AP_HAL::millis();
GCS_MAVLINK::handle_rc_channels_override(msg); GCS_MAVLINK::handle_rc_channels_override(msg);
@ -1371,7 +1371,7 @@ void Plane::mavlink_delay_cb()
logger.EnableWrites(true); 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; plane.auto_state.next_wp_crosstrack = false;
GCS_MAVLINK::handle_mission_set_current(mission, msg); 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; 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; 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 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; 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;
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_MODE base_mode() const override;
MAV_STATE system_status() const override; MAV_STATE system_status() const override;