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AntennaTracker: pass mavlink_message_t by const reference

This commit is contained in:
Pierre Kancir 2019-04-30 12:22:50 +02:00 committed by Peter Barker
parent b1506ca652
commit 4180345fdc
2 changed files with 13 additions and 13 deletions
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22
AntennaTracker/GCS_Mavlink.cpp
View File

@ -294,7 +294,7 @@ const struct GCS_MAVLINK::stream_entries GCS_MAVLINK::all_stream_entries[] = {
MAVLINK_MSG_ID_SCALED_PRESSUREs
*/
void GCS_MAVLINK_Tracker::packetReceived(const mavlink_status_t &status,
mavlink_message_t &msg)
const mavlink_message_t &msg)
{
// return immediately if sysid doesn't match our target sysid
if ((tracker.g.sysid_target != 0) && (tracker.g.sysid_target != msg.sysid)) {
@ -420,16 +420,16 @@ bool GCS_MAVLINK_Tracker::set_home(const Location& loc, bool lock) {
return tracker.set_home(loc);
}
void GCS_MAVLINK_Tracker::handleMessage(mavlink_message_t* msg)
void GCS_MAVLINK_Tracker::handleMessage(const mavlink_message_t &msg)
{
switch (msg->msgid) {
switch (msg.msgid) {
// When mavproxy 'wp sethome'
case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST:
{
// decode
mavlink_mission_write_partial_list_t packet;
mavlink_msg_mission_write_partial_list_decode(msg, &packet);
mavlink_msg_mission_write_partial_list_decode(&msg, &packet);
if (packet.start_index == 0)
{
// New home at wp index 0. Ask for it
@ -446,7 +446,7 @@ void GCS_MAVLINK_Tracker::handleMessage(mavlink_message_t* msg)
mavlink_mission_item_t packet;
MAV_MISSION_RESULT result = MAV_MISSION_ACCEPTED;
mavlink_msg_mission_item_decode(msg, &packet);
mavlink_msg_mission_item_decode(&msg, &packet);
struct Location tell_command;
@ -528,8 +528,8 @@ mission_failed:
// we are rejecting the mission/waypoint
mavlink_msg_mission_ack_send(
chan,
msg->sysid,
msg->compid,
msg.sysid,
msg.compid,
result,
MAV_MISSION_TYPE_MISSION);
break;
@ -538,7 +538,7 @@ mission_failed:
case MAVLINK_MSG_ID_MANUAL_CONTROL:
{
mavlink_manual_control_t packet;
mavlink_msg_manual_control_decode(msg, &packet);
mavlink_msg_manual_control_decode(&msg, &packet);
tracker.tracking_manual_control(packet);
break;
}
@ -547,7 +547,7 @@ mission_failed:
{
// decode
mavlink_global_position_int_t packet;
mavlink_msg_global_position_int_decode(msg, &packet);
mavlink_msg_global_position_int_decode(&msg, &packet);
tracker.tracking_update_position(packet);
break;
}
@ -556,7 +556,7 @@ mission_failed:
{
// decode
mavlink_scaled_pressure_t packet;
mavlink_msg_scaled_pressure_decode(msg, &packet);
mavlink_msg_scaled_pressure_decode(&msg, &packet);
tracker.tracking_update_pressure(packet);
break;
}
@ -649,7 +649,7 @@ void GCS_MAVLINK_Tracker::send_global_position_int()
/* dummy methods to avoid having to link against AP_Camera */
void AP_Camera::control_msg(mavlink_message_t const*) {}
void AP_Camera::control_msg(const mavlink_message_t &) {}
void AP_Camera::configure(float, float, float, float, float, float, float) {}
void AP_Camera::control(float, float, float, float, float, float) {}
void AP_Camera::send_feedback(mavlink_channel_t chan) {}

4
AntennaTracker/GCS_Mavlink.h
View File

@ -34,9 +34,9 @@ protected:
private:
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;
void mavlink_check_target(const mavlink_message_t &msg);
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 send_global_position_int() override;