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

4
AntennaTracker/GCS_Mavlink.h
View File

@ -34,9 +34,9 @@ protected:
private: 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 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; 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 send_global_position_int() override; void send_global_position_int() override;